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Label Component & System #853

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merged 19 commits into from
Sep 22, 2021
Merged

Label Component & System #853

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902099e
Label Component & System
AmrElsersy Jun 8, 2021
472a228
Add Segmentation & BoundingBox Components,
AmrElsersy Jun 13, 2021
cc18cb6
Label all visuals childeren + style + RenderUtil entity labels
AmrElsersy Jun 17, 2021
ebbd916
Added Segmentation & Bounding box camera sensors SDF examples
AmrElsersy Aug 6, 2021
6ac6118
Merge branch 'main' of https://github.com/ignitionrobotics/ign-gazebo…
AmrElsersy Aug 10, 2021
b119a31
Merge branch 'main' of https://github.com/ignitionrobotics/ign-gazebo…
AmrElsersy Aug 16, 2021
a8a2bc0
Added BoundingBox Sensor to Sensors system
AmrElsersy Aug 16, 2021
fc7de7f
Add BoundingBox Sensor to CMakeLists
AmrElsersy Aug 17, 2021
86bf2df
Update Segmentation & BoundingBox examples
AmrElsersy Aug 26, 2021
f5b786d
solve actor visual problem
AmrElsersy Sep 17, 2021
545c83c
clean code for actor
AmrElsersy Sep 17, 2021
a7a2ad1
Merge branch 'main' of https://github.com/ignitionrobotics/ign-gazebo…
AmrElsersy Sep 17, 2021
baae958
Merge branch 'main' into main
adlarkin Sep 22, 2021
ecc1783
cleanup
adlarkin Sep 22, 2021
4b3e0e8
Merge branch 'main' into main
adlarkin Sep 22, 2021
27c89de
segmentation sensor only (no bounding box)
adlarkin Sep 22, 2021
cc6a191
add TODO note for supporting nested models
adlarkin Sep 22, 2021
bfbdc5d
merge from main and address codecheck issues
chapulina Sep 22, 2021
a72d342
Merge commit 'd889c5f417b1a022ccbe8c4a148e3527aec54ab3' into main
chapulina Sep 22, 2021
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1 change: 1 addition & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -122,6 +122,7 @@ ign_find_package(ignition-sensors6 REQUIRED

# cameras
camera
segmentation_camera
depth_camera
rgbd_camera
thermal_camera
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362 changes: 362 additions & 0 deletions examples/worlds/segmentation_camera.sdf
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@@ -0,0 +1,362 @@
<?xml version="1.0" ?>
<!--
Segmentation camera demo for visualizing the semantic & instance segmentation sensor output
-->
<sdf version="1.6">
<world name="shapes">
<plugin
filename="ignition-gazebo-physics-system"
name="ignition::gazebo::systems::Physics">
</plugin>
<plugin
filename="ignition-gazebo-user-commands-system"
name="ignition::gazebo::systems::UserCommands">
</plugin>
<plugin
filename="ignition-gazebo-scene-broadcaster-system"
name="ignition::gazebo::systems::SceneBroadcaster">
</plugin>
<plugin
filename="ignition-gazebo-sensors-system"
name="ignition::gazebo::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>

<gui fullscreen="0">

<!-- 3D scene -->
<plugin filename="GzScene3D" name="3D View">
<ignition-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</ignition-gui>

<engine>ogre</engine>
<scene>scene</scene>
<ambient_light>1.0 1.0 1.0</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
</plugin>

<!-- World control -->
<plugin filename="WorldControl" name="World control">
<ignition-gui>
<title>World control</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">72</property>
<property type="double" key="width">121</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<play_pause>true</play_pause>
<step>true</step>
<start_paused>true</start_paused>

</plugin>

<!-- World statistics -->
<plugin filename="WorldStats" name="World stats">
<ignition-gui>
<title>World stats</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">110</property>
<property type="double" key="width">290</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>
</plugin>

<!-- Image Display Plugins for visualization -->
<plugin filename="ImageDisplay" name="Image Display">
<ignition-gui>
</ignition-gui>
<topic>semantic/colored_map</topic>
</plugin>
<plugin filename="ImageDisplay" name="Image Display">
<ignition-gui>
</ignition-gui>
<topic>panoptic/colored_map</topic>
</plugin>
<plugin filename="ImageDisplay" name="Image Display">
<ignition-gui>
</ignition-gui>
<topic>semantic/labels_map</topic>
</plugin>
</gui>

<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>

<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>

<!-- Cars, all of them have label 40 -->
<include>
<name>Car1</name>
<pose>-2 -2 0 0 0 0</pose>
<uri>
https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Hatchback blue
</uri>
<plugin filename="ignition-gazebo-label-system" name="ignition::gazebo::systems::Label">
<label>40</label>
</plugin>
</include>

<include>
<name>Car2</name>
<pose>-3 -5 0 0 0 0</pose>
<uri>
https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Pickup
</uri>
<plugin filename="ignition-gazebo-label-system" name="ignition::gazebo::systems::Label">
<label>40</label>
</plugin>
</include>

<include>
<name>Car3</name>
<pose>-4 3 0 0 0 -1.57</pose>
<uri>
https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/SUV
</uri>
<plugin filename="ignition-gazebo-label-system" name="ignition::gazebo::systems::Label">
<label>40</label>
</plugin>
</include>

<!-- Tree, all of them have label 30 -->
<include>
<name>tree1</name>
<pose>-2 5 0 0 0 0</pose>
<uri>
https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Pine Tree
</uri>
<plugin filename="ignition-gazebo-label-system" name="ignition::gazebo::systems::Label">
<label>30</label>
</plugin>
</include>

<include>
<name>tree2</name>
<pose>-7 2 0 0 0 0</pose>
<uri>
https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Pine Tree
</uri>
<plugin filename="ignition-gazebo-label-system" name="ignition::gazebo::systems::Label">
<label>30</label>
</plugin>
</include>

<include>
<name>tree3</name>
<pose>-7 -4 0 0 0 0</pose>
<uri>
https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Pine Tree
</uri>
<plugin filename="ignition-gazebo-label-system" name="ignition::gazebo::systems::Label">
<label>30</label>
</plugin>
</include>

<!-- Home, we didn't annotate (label) it, so it will be considered as background -->
<include>
<name>home</name>
<pose>-15 0 0 0 0 1.57</pose>
<uri>
https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Collapsed House
</uri>
</include>

<!-- Cones, all with label 20-->
<include>
<name>cone1</name>
<pose>0 1 0 0 0 1.570796</pose>
<uri>
https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Construction Cone
</uri>
<plugin filename="ignition-gazebo-label-system" name="ignition::gazebo::systems::Label">
<label>20</label>
</plugin>
</include>

<include>
<name>cone2</name>
<pose>0 4 0 0 0 1.570796</pose>
<uri>
https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Construction Cone
</uri>
<plugin filename="ignition-gazebo-label-system" name="ignition::gazebo::systems::Label">
<label>20</label>
</plugin>
</include>

<include>
<name>cone3</name>
<pose>2 -2 0 0 0.0 1.57</pose>
<uri>
https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Construction Cone
</uri>
<plugin filename="ignition-gazebo-label-system" name="ignition::gazebo::systems::Label">
<label>20</label>
</plugin>
</include>

<!-- Instance / Panoptic Segmentation Camera Sensor -->
<model name="instance_camera">
<pose>6 0 2.0 0 0.0 3.14</pose>
<link name="link">
<pose>0 0 0 0 0 0</pose>
<inertial>
<mass>0.5</mass>
<inertia>
<ixx>0.000166667</ixx>
<iyy>0.000166667</iyy>
<izz>0.000166667</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>

<sensor name="instance_segmentation_camera" type="segmentation">
<topic>panoptic</topic>
<camera>
<segmentation_type>instance</segmentation_type>
<horizontal_fov>1.57</horizontal_fov>
<image>
<width>800</width>
<height>600</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<save enabled="true">
<path>segmentation_data/instance_camera</path>
</save>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
</sensor>
</link>
</model>

<!-- Semantic Segmentation Camera Sensor -->
<model name="semantic_camera">
<pose>6 0 2.0 0 0.0 3.14</pose>
<link name="link">
<pose>0 0 0 0 0 0</pose>
<inertial>
<mass>0.5</mass>
<inertia>
<ixx>0.000166667</ixx>
<iyy>0.000166667</iyy>
<izz>0.000166667</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<sensor name="semantic_segmentation_camera" type="segmentation">
<topic>semantic</topic>
<camera>
<segmentation_type>semantic</segmentation_type>
<horizontal_fov>1.57</horizontal_fov>
<image>
<width>800</width>
<height>600</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<save enabled="true">
<path>segmentation_data/semantic_camera</path>
</save>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
</sensor>
</link>
</model>

</world>
</sdf>
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