CameraZoomPlugin is not updating topic camera_info

[srmainwaring]

Bug report

Issue details

The CameraZoomPlugin does not update the camera intrinsics published in the /world/{world}/model/{model}/link/{link}/sensor/{sensor}/camera_info (gz.msgs.CameraInfo) topic.

Version

• main

Steps to replicate:

• Run an example containing a model equipped with the gimbal_small_3d which includes a camera sensor and CameraZoomPlugin.
• Inspect the topics for the one containing camera_info and subscribe to the topic and filter for the projection matrix. For example:

gz topic -e -t /world/playpen/model/mount/model/gimbal/link/pitch_link/sensor/camera/camera_info | grep -A12 projection
--
projection {
  p: 205.46962738037109
  p: 0
  p: 320
  p: 0
  p: 0
  p: 205.46965599060059
  p: 240
  p: 0
  p: 0
  p: 0
  p: 1
  p: 0

In another terminal change the zoom setting of the camera:

gz topic -t /model/gimbal/sensor/camera/zoom/cmd_zoom -m gz.msgs.Double -p "data: 4"

Monitor the camera_info topic and notice there is no change to the intrinsic matrix.

Platform
[ x ] All
[ ] AntennaTracker
[ ] Copter
[ ] Plane
[ ] Rover
[ ] Submarine

[AlSharji0]

Hi,
May I open a PR for this issue, if you aren't working on it?

[srmainwaring]

Hi, May I open a PR for this issue, if you aren't working on it?

Sure, if you have a solution would be glad to review.

[AlSharji0]

camera_info appears to be static; Gazebo publishes a precomputed projection matrix at each tick.

If this is the intended behavior, then the plugins current functionality may be inconsistent with gazebo's design and a possible fix would be to have a separate topic just for a dynamic projection matrix.

However, if camera_info is supposed to reflect runtime changes, then it may be a upstream issue.

[AlSharji0]

gazebosim/gz-sim#705

Although this isn't our issue directly and has already been resolved, I believe it stems from the same limitation, that is camera_info was originally static.

I believe this explains why camera_info isn't updating with setHFOV().