[sensors] Add parameters to RgbdSensorAsync

This patch is roughly the parallel of recent parameterization upgrades for
RgbdSensor. It adds context parameters for much of the configuration of
RgbdSensorAsync, and deprecates some of the old accessor methods.

bindings/pydrake/systems/BUILD.bazel

@@ -171,6 +171,7 @@ drake_pybind_library(
         "//bindings/pydrake:documentation_pybind",
         "//bindings/pydrake/common:cpp_template_pybind",
         "//bindings/pydrake/common:default_scalars_pybind",
+        "//bindings/pydrake/common:deprecation_pybind",
         "//bindings/pydrake/common:eigen_pybind",
         "//bindings/pydrake/common:ref_cycle_pybind",
         "//bindings/pydrake/common:serialize_pybind",

bindings/pydrake/systems/sensors_py_rgbd.cc

@@ -1,3 +1,4 @@
+#include "drake/bindings/pydrake/common/deprecation_pybind.h"
 #include "drake/bindings/pydrake/common/ref_cycle_pybind.h"
 #include "drake/bindings/pydrake/documentation_pybind.h"
 #include "drake/bindings/pydrake/systems/sensors_py.h"
@@ -170,7 +171,9 @@ void DefineSensorsRgbd(py::module m) {
   {
     using Class = RgbdSensorAsync;
     constexpr auto& cls_doc = doc.RgbdSensorAsync;
-    py::class_<Class, LeafSystem<double>>(m, "RgbdSensorAsync", cls_doc.doc)
+    py::class_<Class, LeafSystem<double>> rgbd_sensor_async(
+        m, "RgbdSensorAsync", cls_doc.doc);
+    rgbd_sensor_async
         .def(py::init<const geometry::SceneGraph<double>*, geometry::FrameId,
                  const math::RigidTransformd&, double, double, double,
                  std::optional<ColorRenderCamera>,
@@ -179,14 +182,48 @@ void DefineSensorsRgbd(py::module m) {
             py::arg("fps"), py::arg("capture_offset"), py::arg("output_delay"),
             py::arg("color_camera"), py::arg("depth_camera") = std::nullopt,
             py::arg("render_label_image") = false, cls_doc.ctor.doc)
-        .def("parent_id", &Class::parent_id, cls_doc.parent_id.doc)
-        .def("X_PB", &Class::X_PB, cls_doc.X_PB.doc)
         .def("fps", &Class::fps, cls_doc.fps.doc)
         .def("capture_offset", &Class::capture_offset,
             cls_doc.capture_offset.doc)
         .def("output_delay", &Class::output_delay, cls_doc.output_delay.doc)
-        .def("color_camera", &Class::color_camera, cls_doc.color_camera.doc)
-        .def("depth_camera", &Class::depth_camera, cls_doc.depth_camera.doc)
+        .def("default_parent_frame_id", &Class::default_parent_frame_id,
+            cls_doc.default_parent_frame_id.doc)
+        .def("set_default_parent_frame_id", &Class::set_default_parent_frame_id,
+            py::arg("id"), cls_doc.set_default_parent_frame_id.doc)
+        .def("GetParentFrameId", &Class::GetParentFrameId, py::arg("context"),
+            cls_doc.GetParentFrameId.doc)
+        .def("SetParentFrameId", &Class::SetParentFrameId, py::arg("context"),
+            py::arg("id"), cls_doc.SetParentFrameId.doc)
+        .def("default_X_PB", &Class::default_X_PB, py_rvp::reference_internal,
+            cls_doc.default_X_PB.doc)
+        .def("set_default_X_PB", &Class::set_default_X_PB,
+            py::arg("sensor_pose"), cls_doc.set_default_X_PB.doc)
+        .def("GetX_PB", &Class::GetX_PB, py::arg("context"),
+            py_rvp::reference_internal, cls_doc.GetX_PB.doc)
+        .def("SetX_PB", &Class::SetX_PB, py::arg("context"),
+            py::arg("sensor_pose"), cls_doc.SetX_PB.doc)
+        .def("default_color_render_camera", &Class::default_color_render_camera,
+            py_rvp::reference_internal, cls_doc.default_color_render_camera.doc)
+        .def("set_default_color_render_camera",
+            &Class::set_default_color_render_camera, py::arg("color_camera"),
+            cls_doc.set_default_color_render_camera.doc)
+        .def("GetColorRenderCamera", &Class::GetColorRenderCamera,
+            py::arg("context"), py_rvp::reference_internal,
+            cls_doc.GetColorRenderCamera.doc)
+        .def("SetColorRenderCamera", &Class::SetColorRenderCamera,
+            py::arg("context"), py::arg("color_camera"),
+            cls_doc.SetColorRenderCamera.doc)
+        .def("default_depth_render_camera", &Class::default_depth_render_camera,
+            py_rvp::reference_internal, cls_doc.default_depth_render_camera.doc)
+        .def("set_default_depth_render_camera",
+            &Class::set_default_depth_render_camera, py::arg("depth_camera"),
+            cls_doc.set_default_depth_render_camera.doc)
+        .def("GetDepthRenderCamera", &Class::GetDepthRenderCamera,
+            py::arg("context"), py_rvp::reference_internal,
+            cls_doc.GetDepthRenderCamera.doc)
+        .def("SetDepthRenderCamera", &Class::SetDepthRenderCamera,
+            py::arg("context"), py::arg("depth_camera"),
+            cls_doc.SetDepthRenderCamera.doc)
         .def("color_image_output_port", &Class::color_image_output_port,
             py_rvp::reference_internal, cls_doc.color_image_output_port.doc)
         .def("depth_image_32F_output_port", &Class::depth_image_32F_output_port,
@@ -200,6 +237,23 @@ void DefineSensorsRgbd(py::module m) {
             cls_doc.body_pose_in_world_output_port.doc)
         .def("image_time_output_port", &Class::image_time_output_port,
             py_rvp::reference_internal, cls_doc.image_time_output_port.doc);
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+    rgbd_sensor_async  // BR
+        .def("parent_id",
+            WrapDeprecated(cls_doc.parent_id.doc_deprecated, &Class::parent_id),
+            cls_doc.parent_id.doc_deprecated)
+        .def("X_PB", WrapDeprecated(cls_doc.X_PB.doc_deprecated, &Class::X_PB),
+            cls_doc.X_PB.doc_deprecated)
+        .def("color_camera",
+            WrapDeprecated(
+                cls_doc.color_camera.doc_deprecated, &Class::color_camera),
+            cls_doc.color_camera.doc_deprecated)
+        .def("depth_camera",
+            WrapDeprecated(
+                cls_doc.depth_camera.doc_deprecated, &Class::depth_camera),
+            cls_doc.depth_camera.doc_deprecated);
+#pragma GCC diagnostic pop
   }
 }
 

bindings/pydrake/systems/test/sensors_test.py

@@ -8,6 +8,7 @@
 import numpy as np
 from pydrake.common import FindResourceOrThrow
 from pydrake.common.test_utilities import numpy_compare
+from pydrake.common.test_utilities.deprecation import catch_drake_warnings
 from pydrake.common.test_utilities.pickle_compare import assert_pickle
 from pydrake.common.value import AbstractValue, Value
 from pydrake.geometry import (
@@ -465,25 +466,31 @@ def check_info(camera_info):
 
         for constructor in [construct, construct_single]:
             sensor = constructor(parent_id, X_WB)
+
+            # Check default accessors.
             check_info(sensor.default_color_render_camera()
                        .core().intrinsics())
             check_info(sensor.default_depth_render_camera()
                        .core().intrinsics())
             self.assertIsInstance(sensor.default_X_PB(), RigidTransform)
             self.assertEqual(sensor.default_parent_frame_id(), parent_id)
-            sensor.set_default_parent_frame_id(parent_id)
+            sensor.set_default_parent_frame_id(id=parent_id)
+            sensor.set_default_X_PB(sensor_pose=RigidTransform())
+            color_camera = sensor.default_color_render_camera()
+            sensor.set_default_color_render_camera(color_camera=color_camera)
+            depth_camera = sensor.default_depth_render_camera()
+            sensor.set_default_depth_render_camera(depth_camera=depth_camera)
 
             check_ports(sensor)
+
             # Check parameter API.
             context = sensor.CreateDefaultContext()
             self.assertIsInstance(sensor.GetColorRenderCamera(context=context),
                                   ColorRenderCamera)
-            color_camera = sensor.default_color_render_camera()
             sensor.SetColorRenderCamera(context=context,
                                         color_camera=color_camera)
             self.assertIsInstance(sensor.GetDepthRenderCamera(context=context),
                                   DepthRenderCamera)
-            depth_camera = sensor.default_depth_render_camera()
             sensor.SetDepthRenderCamera(context=context,
                                         depth_camera=depth_camera)
             self.assertIsInstance(sensor.GetX_PB(context=context),
@@ -520,22 +527,59 @@ def test_rgbd_sensor_async(self):
         camera_core = self._make_render_camera_core()
         color_camera = ColorRenderCamera(camera_core)
         depth_camera = DepthRenderCamera(camera_core, DepthRange(0.1, 5.5))
+        parent_id = FrameId.get_new_id()
         dut = mut.RgbdSensorAsync(scene_graph=scene_graph,
-                                  parent_id=FrameId.get_new_id(),
+                                  parent_id=parent_id,
                                   X_PB=RigidTransform(),
                                   fps=1.0,
                                   capture_offset=0.1,
                                   output_delay=0.01,
                                   color_camera=color_camera,
                                   depth_camera=depth_camera,
                                   render_label_image=True)
-        dut.parent_id()
-        dut.X_PB()
-        dut.fps()
-        dut.capture_offset()
-        dut.output_delay()
-        dut.color_camera()
-        dut.depth_camera()
+
+        # Test deprecated methods.
+        with catch_drake_warnings(expected_count=1):
+            dut.parent_id()
+        with catch_drake_warnings(expected_count=1):
+            dut.X_PB()
+        with catch_drake_warnings(expected_count=1):
+            dut.color_camera()
+        with catch_drake_warnings(expected_count=1):
+            dut.depth_camera()
+
+        # check const configuration accessors.
+        self.assertIsInstance(dut.fps(), float)
+        self.assertIsInstance(dut.capture_offset(), float)
+        self.assertIsInstance(dut.output_delay(), float)
+
+        # Check default accessors.
+        self.assertEqual(dut.default_parent_frame_id(), parent_id)
+        self.assertIsInstance(dut.default_X_PB(), RigidTransform)
+        self.assertIsInstance(dut.default_color_render_camera(),
+                              ColorRenderCamera)
+        self.assertIsInstance(dut.default_depth_render_camera(),
+                              DepthRenderCamera)
+        dut.set_default_parent_frame_id(id=parent_id)
+        dut.set_default_X_PB(sensor_pose=RigidTransform())
+        color_camera = dut.default_color_render_camera()
+        dut.set_default_color_render_camera(color_camera=color_camera)
+        depth_camera = dut.default_depth_render_camera()
+        dut.set_default_depth_render_camera(depth_camera=depth_camera)
+
+        # Check parameter API.
+        context = dut.CreateDefaultContext()
+        self.assertEqual(dut.GetParentFrameId(context=context), parent_id)
+        dut.SetParentFrameId(context=context, id=parent_id)
+        self.assertIsInstance(dut.GetX_PB(context=context), RigidTransform)
+        dut.SetX_PB(context=context, sensor_pose=RigidTransform())
+        self.assertIsInstance(dut.GetColorRenderCamera(context=context),
+                              ColorRenderCamera)
+        dut.SetColorRenderCamera(context=context, color_camera=color_camera)
+        self.assertIsInstance(dut.GetDepthRenderCamera(context=context),
+                              DepthRenderCamera)
+        dut.SetDepthRenderCamera(context=context, depth_camera=depth_camera)
+
         dut.color_image_output_port()
         dut.depth_image_32F_output_port()
         dut.depth_image_16U_output_port()

systems/sensors/BUILD.bazel

@@ -560,6 +560,7 @@ drake_cc_googletest(
     name = "rgbd_sensor_async_test",
     deps = [
         ":rgbd_sensor_async",
+        "//common/test_utilities:eigen_matrix_compare",
         "//common/test_utilities:expect_throws_message",
         "//geometry/test_utilities:dummy_render_engine",
         "//multibody/plant",