Camera sensor fails with L_INT16.

[bperseghetti]

Environment

• OS Version: Ubuntu 22.04
• Binary
• Fortress 6.12.0

Description

• Expected behavior: Camera runs with 16bit mono image.
• Actual behavior: Camera fails to run 16bit mono as L_INT16 and appears to fail and default to use RGB_INT8

Note that when switching the format to 8bit mono as L_INT8 (instead of the 16bit mono as L_INT16) it has no issues, does not throw any errors and displays a true L_INT8 image.

Steps to reproduce

1. Run Gazebo sdf model that has camera sensor with: <format>L_INT16</format> example:

      <sensor name="gray_image" type="camera">
        <pose>0 0 0 0 0 0</pose>
        <camera>
          <horizontal_fov>0.977384</horizontal_fov>
          <image>
            <width>224</width>
            <height>172</height>
            <format>L_INT16</format>
          </image>
          <clip>
            <near>0.1</near>
            <far>4.0</far>
          </clip>
        </camera>
        <always_on>1</always_on>
        <update_rate>30</update_rate>
        <visualize>true</visualize>
        <topic>/royale_camera/gray_image</topic>
      </sensor>

Or if desired you can also use this existing model using this world to include the sensors plugin.

Output

[Err] [CameraSensor.cc:221] Unsupported pixel format [2]

And the output image defaults to RGB_INT8

Since this issue appears to touch both gz-sensors and gz-sim I am also including it here, I can close one or other depending on desire of where to have this issue.