add bounding box sensor API stubs

.github/ci/packages.apt

@@ -4,6 +4,7 @@ libglew-dev
 libignition-cmake2-dev
 libignition-common4-dev
 libignition-math6-dev
+libignition-math6-eigen3-dev
 libignition-plugin-dev
 libogre-1.9-dev
 libogre-2.2-dev

CMakeLists.txt

@@ -30,7 +30,7 @@ option(USE_UNOFFICAL_OGRE_VERSIONS "Accept unsupported Ogre versions in the buil
 
 #--------------------------------------
 # Find ignition-math
-ign_find_package(ignition-math6 REQUIRED VERSION 6.6)
+ign_find_package(ignition-math6 REQUIRED COMPONENTS eigen3 VERSION 6.9)
 set(IGN_MATH_VER ${ignition-math6_VERSION_MAJOR})
 
 #--------------------------------------

include/ignition/rendering/BoundingBox.hh

@@ -0,0 +1,47 @@
+/*
+ * 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_RENDERING_BOUNDINGBOX_HH_
+#define IGNITION_RENDERING_BOUNDINGBOX_HH_
+
+#include <memory>
+
+#include <ignition/common/SuppressWarning.hh>
+
+#include "ignition/rendering/config.hh"
+#include "ignition/rendering/Export.hh"
+
+namespace ignition
+{
+namespace rendering
+{
+inline namespace IGNITION_RENDERING_VERSION_NAMESPACE {
+  class BoundingBoxPrivate;
+
+  /// \brief 2D or 3D Bounding box. It stores the
+  /// position / orientation / size info of the box and its label
+  class IGNITION_RENDERING_VISIBLE BoundingBox
+  {
+    /// \internal
+    /// \brief Private data
+    IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
+    private: std::unique_ptr<BoundingBoxPrivate> dataPtr;
+    IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
+  };
+}
+}
+}
+#endif

include/ignition/rendering/BoundingBoxCamera.hh

@@ -0,0 +1,89 @@
+/*
+ * 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_RENDERING_BOUNDINGBOXCAMERA_HH_
+#define IGNITION_RENDERING_BOUNDINGBOXCAMERA_HH_
+
+#include <cstdint>
+#include <vector>
+
+#include <ignition/common/Event.hh>
+#include <ignition/math/Color.hh>
+#include <ignition/math/Vector3.hh>
+
+#include "ignition/rendering/BoundingBox.hh"
+#include "ignition/rendering/Camera.hh"
+
+namespace ignition
+{
+  namespace rendering
+  {
+    inline namespace IGNITION_RENDERING_VERSION_NAMESPACE {
+    //
+    /// \brief BoundingBox types for Visible / Full 2D Boxes / 3D Boxes
+    enum class BoundingBoxType
+    {
+      /// 2D box that shows the full box of occluded objects
+      BBT_FULLBOX2D = 0,
+
+      /// 2D box that shows the visible part of the
+      /// occluded object
+      BBT_VISIBLEBOX2D = 1,
+
+      /// 3D oriented box
+      BBT_BOX3D = 2
+    };
+
+    /// \class BoundingBoxCamera BoundingBoxCamera.hh
+    /// ignition/rendering/BoundingBoxCamera.hh
+    /// \brief Poseable BoundingBox camera used for rendering bounding boxes of
+    /// objects in the scene.
+    class IGNITION_RENDERING_VISIBLE BoundingBoxCamera :
+      public virtual Camera
+    {
+      /// \brief Destructor
+      public: virtual ~BoundingBoxCamera() { }
+
+      /// \brief Get the BoundingBox data
+      /// \return Buffer of bounding boxes info (label, minX, minY, maxX, maxY)
+      public: virtual const std::vector<BoundingBox> &BoundingBoxData()
+              const = 0;
+
+      /// \brief Connect to the new BoundingBox info
+      /// \param[in] _subscriber Subscriber callback function
+      /// \return Pointer to the new Connection. This must be kept in scope
+      public: virtual ignition::common::ConnectionPtr ConnectNewBoundingBoxes(
+        std::function<void(const std::vector<BoundingBox> &)> _subscriber) = 0;
+
+      /// \brief Set BoundingBox Type (Visible / Full)
+      /// \param[in] _type BoundingBox Type (Visible / Full)
+      public: virtual void SetBoundingBoxType(BoundingBoxType _type) = 0;
+
+      /// \brief Get the BoundingBox Type (Visible / Full)
+      /// \return BoundingBox Type (Visible / Full)
+      public: virtual BoundingBoxType Type() const = 0;
+
+      /// \brief Draw a bounding box on the given image
+      /// \param[in] _data buffer containing the image data
+      /// \param[in] _color Color of the bounding box to be drawn
+      /// \param[in] _box bounding box to be drawn
+      public: virtual void DrawBoundingBox(unsigned char *_data,
+        const math::Color &_color, const BoundingBox &_box) const = 0;
+    };
+  }
+  }
+}
+#endif

include/ignition/rendering/PixelFormat.hh

@@ -55,8 +55,10 @@ namespace ignition
       PF_FLOAT32_RGB  = 10,
       // 16 bit single channel
       PF_L16          = 11,
+      /// < RGBA, 1-byte per channel
+      PF_R8G8B8A8     = 12,
       /// < Number of pixel format types
-      PF_COUNT        = 12
+      PF_COUNT        = 13
     };
 
     /// \class PixelUtil PixelFormat.hh ignition/rendering/PixelFormat.hh

include/ignition/rendering/RenderTypes.hh

@@ -48,6 +48,7 @@ namespace ignition
 
     class ArrowVisual;
     class AxisVisual;
+    class BoundingBoxCamera;
     class Camera;
     class Capsule;
     class COMVisual;
@@ -112,6 +113,10 @@ namespace ignition
     /// \brief Shared pointer to ThermalCamera
     typedef shared_ptr<ThermalCamera> ThermalCameraPtr;
 
+    /// \typedef BoundingBoxCameraPtr
+    /// \brief Shared pointer to BoundingBoxCamera
+    typedef shared_ptr<BoundingBoxCamera> BoundingBoxCameraPtr;
+
     /// \typedef SegmentationCameraPtr
     /// \brief Shared pointer to Segmentation Camera
     typedef shared_ptr<SegmentationCamera> SegmentationCameraPtr;
@@ -282,6 +287,10 @@ namespace ignition
     /// \brief Shared pointer to const ThermalCamera
     typedef shared_ptr<const ThermalCamera> ConstThermalCameraPtr;
 
+    /// \typedef const BoundingBoxCameraPtr
+    /// \brief Shared pointer to const BoundingBox Camera
+    typedef shared_ptr<const BoundingBoxCamera> ConstBoundingBoxCameraPtr;
+
     /// \typedef const SegmentationCameraPtr
     /// \brief Shared pointer to const Segmentation Camera
     typedef shared_ptr<const SegmentationCamera> ConstSegmentationCameraPtr;

include/ignition/rendering/Scene.hh

@@ -679,6 +679,35 @@ namespace ignition
       public: virtual ThermalCameraPtr CreateThermalCamera(
                   unsigned int _id, const std::string &_name) = 0;
 
+      /// \brief Create new BoundingBox camera. A unique ID and name will
+      /// automatically be assigned to the camera.
+      /// \return The created camera
+      public: virtual BoundingBoxCameraPtr CreateBoundingBoxCamera() = 0;
+
+      /// \brief Create new BoundingBox camera with the given ID.
+      /// A unique name will automatically be assigned to the camera.
+      /// If the given ID is already in use, NULL will be returned.
+      /// \param[in] _id ID of the new camera
+      /// \return The created camera
+      public: virtual BoundingBoxCameraPtr CreateBoundingBoxCamera(
+                  unsigned int _id) = 0;
+
+      /// \brief Create new BoundingBox camera with the given name.
+      /// A unique ID will automatically be assigned to the camera.
+      /// If the given name is already in use, NULL will be returned.
+      /// \param[in] _name Name of the new camera
+      /// \return The created camera
+      public: virtual BoundingBoxCameraPtr CreateBoundingBoxCamera(
+                  const std::string &_name) = 0;
+
+      /// \brief Create new BoundingBox camera with the given ID & name. If
+      /// either the given ID or name is already in use, will return NULL.
+      /// \param[in] _id ID of the new camera
+      /// \param[in] _name Name of the new camera
+      /// \return The created camera
+      public: virtual BoundingBoxCameraPtr CreateBoundingBoxCamera(
+                  unsigned int _id, const std::string &_name) = 0;
+
       /// \brief Create new segmentation camera. A unique ID and name will
       /// automatically be assigned to the camera.
       /// \return The created camera

include/ignition/rendering/base/BaseBoundingBoxCamera.hh

@@ -0,0 +1,105 @@
+/*
+ * 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_RENDERING_BASE_BASEBOUNDINGBOXCAMERA_HH_
+#define IGNITION_RENDERING_BASE_BASEBOUNDINGBOXCAMERA_HH_
+
+#include <vector>
+
+#include <ignition/common/Event.hh>
+#include <ignition/math/Color.hh>
+
+#include "ignition/rendering/base/BaseCamera.hh"
+#include "ignition/rendering/BoundingBoxCamera.hh"
+
+namespace ignition
+{
+  namespace rendering
+  {
+    inline namespace IGNITION_RENDERING_VERSION_NAMESPACE {
+
+    template <class T>
+    class BaseBoundingBoxCamera:
+      public virtual BoundingBoxCamera,
+      public virtual BaseCamera<T>,
+      public virtual T
+    {
+      /// \brief Constructor
+      protected: BaseBoundingBoxCamera();
+
+      /// \brief Destructor
+      public: virtual ~BaseBoundingBoxCamera();
+
+      // Documentation inherited
+      public: virtual const std::vector<BoundingBox> &BoundingBoxData() const;
+
+      // Documentation inherited
+      public: virtual ignition::common::ConnectionPtr ConnectNewBoundingBoxes(
+        std::function<void(const std::vector<BoundingBox> &)> _subscriber) = 0;
+
+      // Documentation inherited
+      public: virtual void SetBoundingBoxType(BoundingBoxType _type);
+
+      // Documentation inherited
+      public: virtual BoundingBoxType Type() const;
+
+      // Documentation inherited
+      public: virtual void DrawBoundingBox(unsigned char *_data,
+        const math::Color &_color, const BoundingBox &_box) const = 0;
+
+      /// \brief The bounding box type
+      protected: BoundingBoxType type = BoundingBoxType::BBT_FULLBOX2D;
+
+      /// \brief The bounding box data
+      protected: std::vector<BoundingBox> boundingBoxes;
+    };
+
+    //////////////////////////////////////////////////
+    template <class T>
+    BaseBoundingBoxCamera<T>::BaseBoundingBoxCamera()
+    {
+    }
+
+    //////////////////////////////////////////////////
+    template <class T>
+    BaseBoundingBoxCamera<T>::~BaseBoundingBoxCamera()
+    {
+    }
+
+    //////////////////////////////////////////////////
+    template <class T>
+    const std::vector<BoundingBox> &
+    BaseBoundingBoxCamera<T>::BoundingBoxData() const
+    {
+      return this->boundingBoxes;
+    }
+
+    //////////////////////////////////////////////////
+    template <class T>
+    void BaseBoundingBoxCamera<T>::SetBoundingBoxType(BoundingBoxType _type)
+    {
+      this->type = _type;
+    }
+
+    //////////////////////////////////////////////////
+    template <class T>
+    BoundingBoxType BaseBoundingBoxCamera<T>::Type() const
+    {
+      return this->type;
+    }
+    }
+  }
+}

include/ignition/rendering/base/BaseScene.hh

@@ -338,6 +338,21 @@ namespace ignition
       public: virtual ThermalCameraPtr CreateThermalCamera(
                   const unsigned int _id, const std::string &_name) override;
 
+      // Documentation inherited.
+      public: virtual BoundingBoxCameraPtr CreateBoundingBoxCamera() override;
+
+      // Documentation inherited.
+      public: virtual BoundingBoxCameraPtr CreateBoundingBoxCamera(
+        const unsigned int _id) override;
+
+      // Documentation inherited.
+      public: virtual BoundingBoxCameraPtr CreateBoundingBoxCamera(
+        const std::string &_name) override;
+
+      // Documentation inherited.
+      public: virtual BoundingBoxCameraPtr CreateBoundingBoxCamera(
+        const unsigned int _id, const std::string &_name) override;
+
       // Documentation inherited.
       public: virtual SegmentationCameraPtr CreateSegmentationCamera() override;
 
@@ -615,6 +630,21 @@ namespace ignition
                    return ThermalCameraPtr();
                  }
 
+      /// \brief Implementation for creating a BoundingBox camera.
+      /// \param[in] _id Unique id
+      /// \param[in] _name Name of BoundingBox camera
+      /// \return Pointer to BoundingBox camera
+      protected: virtual BoundingBoxCameraPtr CreateBoundingBoxCameraImpl(
+                     unsigned int _id, const std::string &_name)
+                 {
+                   // The following two lines will avoid doxygen warnings
+                   (void)_id;
+                   (void)_name;
+                   ignerr << "BoundingBox camera not supported by: "
+                          << this->Engine()->Name() << std::endl;
+                   return BoundingBoxCameraPtr();
+                 }
+
       /// \brief Implementation for creating a segmentation camera.
       /// \param[in] _id Unique id
       /// \param[in] _name Name of segmentation camera