Anti-aliasing element for <camera><image> (#909)

Signed-off-by: William Lew <WilliamMilesLew@gmail.com>
gazebosim · Mar 29, 2022 · 72b77c2 · 72b77c2
1 parent 41ad073
commit 72b77c2
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Showing 4 changed files with 34 additions and 0 deletions.
diff --git a/include/sdf/Camera.hh b/include/sdf/Camera.hh
@@ -160,6 +160,14 @@ namespace sdf
     /// \param[in] _fmt The pixel format string.
     public: void SetPixelFormatStr(const std::string &_fmt);
 
+    /// \brief Get the anti-aliasing value.
+    /// \return The anti-aliasing value.
+    public: uint32_t AntiAliasingValue() const;
+
+    /// \brief Set the anti-aliasing value.
+    /// \param[in] _antiAliasingValue The anti-aliasing value.
+    public: void SetAntiAliasingValue(uint32_t _antiAliasingValue);
+
     /// \brief Get the near clip distance for the depth camera.
     /// \return The near clip depth distance.
     public: double DepthNearClip() const;

diff --git a/sdf/1.7/camera.sdf b/sdf/1.7/camera.sdf
@@ -20,6 +20,9 @@
     <element name="format" type="string" default="R8G8B8" required="0">
       <description>(L8|R8G8B8|B8G8R8|BAYER_RGGB8|BAYER_BGGR8|BAYER_GBRG8|BAYER_GRBG8)</description>
     </element>
+    <element name="anti_aliasing" type="int" default="4" required="0">
+      <description>Value used for anti-aliasing</description>
+    </element>
   </element> <!-- End Image -->
 
   <element name="clip" required="1">

diff --git a/src/Camera.cc b/src/Camera.cc
@@ -66,6 +66,9 @@ class sdf::CameraPrivate
   /// \brief Image format.
   public: PixelFormatType pixelFormat{PixelFormatType::RGB_INT8};
 
+  /// \brief Anti-aliasing value.
+  public: uint32_t antiAliasingValue{4};
+
   /// \brief Near clip distance.
   public: double nearClip{0.1};
 
@@ -270,6 +273,10 @@ Errors Camera::Load(ElementPtr _sdf)
       errors.push_back({ErrorCode::ELEMENT_INVALID,
         "Camera sensor <image><format> has invalid value of " + format});
     }
+
+    this->dataPtr->antiAliasingValue =
+        elem->Get<uint32_t>("anti_aliasing",
+            this->dataPtr->antiAliasingValue).first;
   }
   else
   {
@@ -467,6 +474,18 @@ void Camera::SetPixelFormatStr(const std::string &_fmt)
   this->dataPtr->pixelFormat = ConvertPixelFormat(_fmt);
 }
 
+//////////////////////////////////////////////////
+uint32_t Camera::AntiAliasingValue() const
+{
+  return this->dataPtr->antiAliasingValue;
+}
+
+//////////////////////////////////////////////////
+void Camera::SetAntiAliasingValue(uint32_t _antiAliasingValue)
+{
+  this->dataPtr->antiAliasingValue = _antiAliasingValue;
+}
+
 //////////////////////////////////////////////////
 double Camera::DepthNearClip() const
 {

diff --git a/src/Camera_TEST.cc b/src/Camera_TEST.cc
@@ -42,6 +42,10 @@ TEST(DOMCamera, Construction)
   cam.SetPixelFormat(sdf::PixelFormatType::L_INT8);
   EXPECT_EQ(sdf::PixelFormatType::L_INT8 , cam.PixelFormat());
 
+  EXPECT_EQ(4u, cam.AntiAliasingValue());
+  cam.SetAntiAliasingValue(8);
+  EXPECT_EQ(8u, cam.AntiAliasingValue());
+
   EXPECT_DOUBLE_EQ(0.1, cam.DepthNearClip());
   EXPECT_FALSE(cam.HasDepthNearClip());
   cam.SetDepthNearClip(0.2);