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Testing Windows fix #392

Merged
merged 6 commits into from
Oct 17, 2023
Merged

Testing Windows fix #392

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4aae160
fixing windows
iche033 Oct 10, 2023
7eb44ce
test visibility
iche033 Oct 10, 2023
7657f25
style
iche033 Oct 10, 2023
d5b64ef
test alternative fix
iche033 Oct 11, 2023
c875f5e
update camke
iche033 Oct 11, 2023
0fcf479
Merge branch 'main' into win_fix
iche033 Oct 11, 2023
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4 changes: 2 additions & 2 deletions src/CameraSensor.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -259,7 +259,7 @@ bool CameraSensor::CreateCamera()
double cx = cameraSdf->LensIntrinsicsCx();
double cy = cameraSdf->LensIntrinsicsCy();
double s = cameraSdf->LensIntrinsicsSkew();
auto projectionMatrix = buildProjectionMatrix(
auto projectionMatrix = gz::sensors::buildProjectionMatrix(
this->dataPtr->camera->ImageWidth(),
this->dataPtr->camera->ImageHeight(),
fx, fy, cx, cy, s,
Expand Down Expand Up @@ -313,7 +313,7 @@ bool CameraSensor::CreateCamera()
double cy = cameraSdf->LensProjectionCy();
double s = 0;

auto projectionMatrix = buildProjectionMatrix(
auto projectionMatrix = gz::sensors::buildProjectionMatrix(
this->dataPtr->camera->ImageWidth(),
this->dataPtr->camera->ImageHeight(),
fx, fy, cx, cy, s,
Expand Down
11 changes: 6 additions & 5 deletions src/CameraSensorUtil.hh
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Expand Up @@ -82,11 +82,12 @@ math::Matrix4d buildPerspectiveMatrix(
/// This value is negative if the plane is to be behind
/// the camera
/// \return OpenGL projection matrix
math::Matrix4d buildProjectionMatrix(double _imageWidth, double _imageHeight,
double _intrinsicsFx, double _intrinsicsFy,
double _intrinsicsCx, double _intrinsicsCy,
double _intrinsicsS, double _clipNear,
double _clipFar);
math::Matrix4d GZ_SENSORS_VISIBLE buildProjectionMatrix(
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@azeey azeey Oct 11, 2023 •
edited
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I think it would be better to compile CameraSensorUtil.cc with each of the components that need it rather than making it visible here since it now becomes part of our public ABI.

Edit: Technically, I think it is visible by default on linux, so it is part of the public ABI (unfortunately) already, but when gazebosim/gz-cmake#166 is resolved, this would break in Linux as well.

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testing alternative fix in d5b64ef

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Windows CI looks good with the new changes.

double _imageWidth, double _imageHeight,
double _intrinsicsFx, double _intrinsicsFy,
double _intrinsicsCx, double _intrinsicsCy,
double _intrinsicsS, double _clipNear,
double _clipFar);
}
}
}
Expand Down
4 changes: 2 additions & 2 deletions src/DepthCameraSensor.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -405,7 +405,7 @@
double cx = cameraSdf->LensIntrinsicsCx();
double cy = cameraSdf->LensIntrinsicsCy();
double s = cameraSdf->LensIntrinsicsSkew();
auto projectionMatrix = buildProjectionMatrix(
auto projectionMatrix = gz::sensors::buildProjectionMatrix(

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src/DepthCameraSensor.cc#L408 

Added line #L408 was not covered by tests
this->dataPtr->depthCamera->ImageWidth(),
this->dataPtr->depthCamera->ImageHeight(), fx, fy, cx, cy, s,
this->dataPtr->depthCamera->NearClipPlane(),
Expand Down Expand Up @@ -446,7 +446,7 @@
double cy = cameraSdf->LensProjectionCy();
double s = 0;

auto projectionMatrix = buildProjectionMatrix(
auto projectionMatrix = gz::sensors::buildProjectionMatrix(

Check warning on line 449 in src/DepthCameraSensor.cc

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src/DepthCameraSensor.cc#L449 

Added line #L449 was not covered by tests
this->dataPtr->depthCamera->ImageWidth(),
this->dataPtr->depthCamera->ImageHeight(),
fx, fy, cx, cy, s,
Expand Down