Deprecate camera pose

[iche033]

🦟 Bug fix

Summary

Deprecate //sensor/camera/pose as it's redundant with //sensor/pose, see gazebosim/gz-sim#2433 (comment).

I deprecated the relevant functions in Camera DOM class. As for deprecating the actual //sensor/camera/pose SDF element, I noticed that the pose element is included in the sdf/1.12/camera.sdf file using <include filename="pose.sdf" required="0"/> so I can't update it's description to say that it's being deprecated. One option is to copy the entire conent of pose.sdf into camera.sdf and update its description - let me know if this is the preferred method. Update: marked as deprecated by setting required to -1 (<include filename="pose.sdf" required="-1"/>)

Checklist

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[scpeters]

As for deprecating the actual //sensor/camera/pose SDF element, I noticed that the pose element is included in the sdf/1.12/camera.sdf file using <include filename="pose.sdf" required="0"/>

does it work to set required="-1" in the include element?

<include filename="pose.sdf" required="-1"/>

[iche033]

does it work to set required="-1" in the include element?

oh I didn't know about this! Just found what -1 means in the parser code. I think that's what I need, thanks. Set required to -1 in c8f2521

[scpeters]

I looked back in gazebo-classic, and we used the //camera/pose for multicameras (such as a stereo camera) in order to specify the location of each sub-camera:

• https://github.com/gazebosim/gazebo-classic/blob/gazebo11/test/worlds/multicamera_test.world#L63-L90

do we have support for stereo-cameras yet in gz-sim? cc @azeey

[iche033]

do we have support for stereo-cameras yet in gz-sim?

Gazebo-classic uses a multicamera sensor so that it can guarantee the cameras are synchronized / updated in the same timestep. This is not necessary in gz-sim. To use stereo or multi-cameras in gz-sim, the users just need to create 2 (or more) cameras with the same update rate - this will guarantee that the cameras are updated in the same timestep.

[iche033]

I originally thought //camera/pose is used for rotating the camera to optical frame but no you're right it's for multicamera sensors. If there are other consumers of sdformat (other than gazebo-classic and gz-sim) that support multicamera + //camera/pose, maybe we should not deprecate this. We just won't support this field in gz-sim.

[iche033]

Closing this. The new Gazebo will not use this SDF element but there maybe users out there who do need multicamera + //camera/pose .