CameraSensor: use Sensor::FrameId only

Remove all references to sdf::Camera::OpticalFrameId.

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

Author: scpeters

src/CameraSensor.cc

@@ -118,9 +118,6 @@ class gz::sensors::CameraSensorPrivate
   /// \brief Camera information message.
   public: msgs::CameraInfo infoMsg;
 
-  /// \brief The frame this camera uses in its camera_info topic.
-  public: std::string opticalFrameId{""};
-
   /// \brief Topic for info message.
   public: std::string infoTopic{""};
 
@@ -511,7 +508,7 @@ bool CameraSensor::Update(const std::chrono::steady_clock::duration &_now)
       *msg.mutable_header()->mutable_stamp() = msgs::Convert(_now);
       auto frame = msg.mutable_header()->add_data();
       frame->set_key("frame_id");
-      frame->add_value(this->dataPtr->opticalFrameId);
+      frame->add_value(this->FrameId());
       msg.set_data(data, this->dataPtr->camera->ImageMemorySize());
     }
 
@@ -708,27 +705,9 @@ void CameraSensor::PopulateInfo(const sdf::Camera *_cameraSdf)
   this->dataPtr->infoMsg.add_rectification_matrix(0.0);
   this->dataPtr->infoMsg.add_rectification_matrix(1.0);
 
-  // Note: while Gazebo interprets the camera frame to be looking towards +X,
-  // other tools, such as ROS, may interpret this frame as looking towards +Z.
-  // To make this configurable the user has the option to set an optical frame.
-  // If the user has set <optical_frame_id> in the cameraSdf use it,
-  // otherwise fall back to the sensor frame.
-  // \todo(iche033 sdf::Camera::OpticalFrameId is deprecated.
-  // Remove this if statement when gz-sensors is updated to use sdformat16
-  GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
-  if (_cameraSdf->OpticalFrameId().empty())
-  {
-   this->dataPtr->opticalFrameId = this->FrameId();
-  }
-  else
-  {
-   this->dataPtr->opticalFrameId = _cameraSdf->OpticalFrameId();
-  }
-  GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
-
   auto infoFrame = this->dataPtr->infoMsg.mutable_header()->add_data();
   infoFrame->set_key("frame_id");
-  infoFrame->add_value(this->dataPtr->opticalFrameId);
+  infoFrame->add_value(this->FrameId());
 
   this->dataPtr->infoMsg.set_width(width);
   this->dataPtr->infoMsg.set_height(height);
@@ -776,7 +755,7 @@ bool CameraSensor::HasInfoConnections() const
 //////////////////////////////////////////////////
 const std::string& CameraSensor::OpticalFrameId() const
 {
-  return this->dataPtr->opticalFrameId;
+  return this->FrameId();
 }
 
 //////////////////////////////////////////////////

src/RgbdCameraSensor.cc

@@ -105,9 +105,6 @@ class gz::sensors::RgbdCameraSensorPrivate
   /// point cloud.
   public: unsigned int channels = 4;
 
-  /// \brief Frame ID the camera_info message header is expressed.
-  public: std::string opticalFrameId{""};
-
   /// \brief Pointer to an image to be published
   public: gz::rendering::Image image;
 
@@ -295,24 +292,6 @@ bool RgbdCameraSensor::CreateCameras()
   this->dataPtr->depthCamera->SetNearClipPlane(cameraSdf->NearClip());
   this->dataPtr->depthCamera->SetFarClipPlane(cameraSdf->FarClip());
 
-  // Note: while Gazebo interprets the camera frame to be looking towards +X,
-  // other tools, such as ROS, may interpret this frame as looking towards +Z.
-  // To make this configurable the user has the option to set an optical frame.
-  // If the user has set <optical_frame_id> in the cameraSdf use it,
-  // otherwise fall back to the sensor frame.
-  // \todo(iche033 sdf::Camera::OpticalFrameId is deprecated.
-  // Remove this if statement when gz-sensors is updated to use sdformat16
-  GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
-  if (cameraSdf->OpticalFrameId().empty())
-  {
-   this->dataPtr->opticalFrameId = this->FrameId();
-  }
-  else
-  {
-   this->dataPtr->opticalFrameId = cameraSdf->OpticalFrameId();
-  }
-  GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
-
   // Depth camera clip params are new and only override the camera clip
   // params if specified.
   if (cameraSdf->HasDepthCamera())
@@ -525,7 +504,7 @@ bool RgbdCameraSensor::Update(const std::chrono::steady_clock::duration &_now)
     *msg.mutable_header()->mutable_stamp() = msgs::Convert(_now);
     auto frame = msg.mutable_header()->add_data();
     frame->set_key("frame_id");
-    frame->add_value(this->dataPtr->opticalFrameId);
+    frame->add_value(this->FrameId());
 
     std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
 
@@ -637,7 +616,7 @@ bool RgbdCameraSensor::Update(const std::chrono::steady_clock::duration &_now)
       *msg.mutable_header()->mutable_stamp() = msgs::Convert(_now);
       auto frame = msg.mutable_header()->add_data();
       frame->set_key("frame_id");
-      frame->add_value(this->dataPtr->opticalFrameId);
+      frame->add_value(this->FrameId());
       msg.set_data(data, rendering::PixelUtil::MemorySize(rendering::PF_R8G8B8,
         width, height));