Add BoundingBox Sensor (#136)

Signed-off-by: AmrElsersy <[email protected]>
Signed-off-by: Ashton Larkin <[email protected]>
Signed-off-by: Louise Poubel <[email protected]>

Co-authored-by: Ashton Larkin <[email protected]>
Co-authored-by: Ashton Larkin <[email protected]>
Co-authored-by: Louise Poubel <[email protected]>

CMakeLists.txt

@@ -66,7 +66,7 @@ if ((NOT ${CMAKE_VERSION} VERSION_LESS 3.11) AND (NOT OpenGL_GL_PREFERENCE))
   set(OpenGL_GL_PREFERENCE "GLVND")
 endif()
 
-ign_find_package(ignition-rendering6 REQUIRED VERSION 6.2 OPTIONAL_COMPONENTS ogre ogre2)
+ign_find_package(ignition-rendering6 REQUIRED VERSION 6.5 OPTIONAL_COMPONENTS ogre ogre2)
 set(IGN_RENDERING_VER ${ignition-rendering6_VERSION_MAJOR})
 
 if (TARGET ignition-rendering${IGN_RENDERING_VER}::ogre)

include/ignition/sensors/BoundingBoxCameraSensor.hh

@@ -0,0 +1,117 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#ifndef IGNITION_SENSORS_BOUNDINGBOXCAMERASENSOR_HH_
+#define IGNITION_SENSORS_BOUNDINGBOXCAMERASENSOR_HH_
+
+#include <memory>
+#include <vector>
+
+#include <ignition/rendering/BoundingBoxCamera.hh>
+#include <sdf/Sensor.hh>
+
+#include "ignition/sensors/CameraSensor.hh"
+#include "ignition/sensors/boundingbox_camera/Export.hh"
+
+namespace ignition
+{
+  namespace sensors
+  {
+    // Inline bracket to help doxygen filtering.
+    inline namespace IGNITION_SENSORS_VERSION_NAMESPACE {
+    // forward declarations
+    class BoundingBoxCameraSensorPrivate;
+
+    /// \brief BoundingBox camera sensor class.
+    ///
+    /// This class creates a BoundingBox image from an ignition rendering scene.
+    /// The scene must be created in advance and given to Manager::Init().
+    /// It offers both an ignition-transport interface and a direct C++ API
+    /// to access the image data. The API works by setting a callback to be
+    /// called with image data.
+    class IGNITION_SENSORS_BOUNDINGBOX_CAMERA_VISIBLE
+      BoundingBoxCameraSensor : public CameraSensor
+    {
+      /// \brief constructor
+      public: BoundingBoxCameraSensor();
+
+      /// \brief destructor
+      public: virtual ~BoundingBoxCameraSensor();
+
+      /// \brief Load the sensor based on data from an sdf::Sensor object.
+      /// \param[in] _sdf SDF Sensor parameters.
+      /// \return true if loading was successful
+      public: virtual bool Load(const sdf::Sensor &_sdf) override;
+
+      /// \brief Load the sensor with SDF parameters.
+      /// \param[in] _sdf SDF Sensor parameters.
+      /// \return true if loading was successful
+      public: virtual bool Load(sdf::ElementPtr _sdf) override;
+
+      /// \brief Initialize values in the sensor
+      /// \return True on success
+      public: virtual bool Init() override;
+
+      /// \brief Force the sensor to generate data
+      /// \param[in] _now The current time
+      /// \return true if the update was successful
+      public: virtual bool Update(
+        const std::chrono::steady_clock::duration &_now) override;
+
+      /// \brief Get the rendering BoundingBox camera
+      /// \return BoundingBox camera pointer
+      public: virtual rendering::BoundingBoxCameraPtr
+        BoundingBoxCamera() const;
+
+      /// \brief Callback on new bounding boxes from bounding boxes camera
+      /// \param[in] _boxes Detected bounding boxes from the camera
+      public: void OnNewBoundingBoxes(
+        const std::vector<rendering::BoundingBox> &_boxes);
+
+      /// \brief Set the rendering scene.
+      /// \param[in] _scene Pointer to the scene
+      public: virtual void SetScene(
+                  ignition::rendering::ScenePtr _scene) override;
+
+      /// \brief Get image width.
+      /// \return width of the image
+      public: virtual unsigned int ImageWidth() const override;
+
+      /// \brief Get image height.
+      /// \return height of the image
+      public: virtual unsigned int ImageHeight() const override;
+
+      /// \brief Check if there are any subscribers
+      /// \return True if there are subscribers, false otherwise
+      /// \todo(iche033) Make this function virtual on Garden
+      public: bool HasConnections() const;
+
+      /// \brief Create a camera in a scene
+      /// \return True on success.
+      private: bool CreateCamera();
+
+      IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
+      /// \brief Data pointer for private data
+      /// \internal
+      private: std::unique_ptr<BoundingBoxCameraSensorPrivate> dataPtr;
+      IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
+    };
+    }
+  }
+}
+
+#endif