Add BoundingBox Sensor

[AmrElsersy]

Signed-off-by: AmrElsersy [email protected]

🎉 New feature

related to #135

Summary

BoundingBox Camera Sensor that allow users to use it easily in SDF, and It publishes the sensor data (bounding boxes) to ign-transport.

It published both BoundingBoxes Msg & Image (with drawn boxes on it for visualization)

Depends on

Gazebo #853
SDF #592
Rendering #334
Msgs #165

Demo

Test it

Will add a tutorial later.

Format

        <sensor name="boundingbox_camera" type="boundingbox_camera">
          <box_type>visible_box</box_type>
          <camera>
            <horizontal_fov>1.047</horizontal_fov>
            <image>
              <width>800</width>
              <height>600</height>
            </image>
            <clip>
              <near>0.01</near>
              <far>1000</far>
            </clip>
          </camera>
          <always_on>1</always_on>
          <update_rate>30</update_rate>
          <visualize>true</visualize>
          <topic>camera</topic>
        </sensor>

It requires visuals annotating in the sdf via Gazeb #853

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Notes

Full Bounding Boxes mode dosn't work yet here, But it works in rendering::BoundingBoxCamera, I think because the view matrix of the ogre camera dosn't change with the change of the node's pose ... still searching :D

[adlarkin]

Is there a chance for memory leaks here? It looks like these variables are added to the message, but when/how are they de-allocated?

[AmrElsersy]

I don't know yet a way about how to deallocate it
is it deleted when we call the MSG_NAME.clear() function ?

I mean the whole msg, the AnnotatedAxisAligned2DBox_V

[adlarkin]

same question as my previous comment about memory leaks

[chapulina]

gazebosim/gz-rendering#334 won't make it in time for code freeze, so I'll remove this PR from beta, which means the sensor won't be available on Fortress from day one. This PR is backwards compatible though, so we can get it into a minor release later with more time.

[codecov]

Codecov Report

Merging #136 (ec8117f) into ign-sensors6 (efe3151) will decrease coverage by 7.83%.
The diff coverage is 58.49%.

❗ Current head ec8117f differs from pull request most recent head 79dd5b3. Consider uploading reports for the commit 79dd5b3 to get more accurate results

@@               Coverage Diff                @@
##           ign-sensors6     #136      +/-   ##
================================================
- Coverage         80.00%   72.16%   -7.84%     
================================================
  Files                 1       34      +33     
  Lines                15     3470    +3455     
================================================
+ Hits                 12     2504    +2492     
- Misses                3      966     +963     

Impacted Files	Coverage Δ
src/BoundingBoxCameraSensor.cc	58.49% <58.49%> (ø)
test_config.h
include/ignition/sensors/Manager.hh	81.81% <0.00%> (ø)
src/ImageNoise.cc	43.47% <0.00%> (ø)
src/DepthCameraSensor.cc	74.39% <0.00%> (ø)
src/Lidar.cc	72.91% <0.00%> (ø)
src/ImuSensor.cc	85.71% <0.00%> (ø)
src/LogicalCameraSensor.cc	90.14% <0.00%> (ø)
src/SegmentationCameraSensor.cc	53.90% <0.00%> (ø)
src/PointCloudUtil.cc	80.66% <0.00%> (ø)
... and 25 more

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