Label Component & System

include/ignition/gazebo/components/BoundingBoxCamera.hh

@@ -0,0 +1,45 @@
+/*
+ * Copyright (C) 2019 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_GAZEBO_COMPONENTS_BOUNDINGBOXCAMERA_HH_
+#define IGNITION_GAZEBO_COMPONENTS_BOUNDINGBOXCAMERA_HH_
+
+#include <sdf/Sensor.hh>
+
+#include <ignition/gazebo/components/Factory.hh>
+#include <ignition/gazebo/components/Component.hh>
+#include <ignition/gazebo/components/Serialization.hh>
+#include <ignition/gazebo/config.hh>
+
+namespace ignition
+{
+namespace gazebo
+{
+// Inline bracket to help doxygen filtering.
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
+namespace components
+{
+  /// \brief A component type that contains a BoundingBox camera sensor,
+  /// sdf::Camera, information.
+  using BoundingBoxCamera = Component<sdf::Sensor, class BoundingBoxCameraTag,
+      serializers::SensorSerializer>;
+  IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.BoundingBoxCamera",
+      BoundingBoxCamera)
+}
+}
+}
+}
+#endif

include/ignition/gazebo/components/Label.hh

@@ -0,0 +1,42 @@
+/*
+ * 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_GAZEBO_COMPONENTS_LABEL_HH_
+#define IGNITION_GAZEBO_COMPONENTS_LABEL_HH_
+
+#include "ignition/gazebo/Export.hh"
+#include "ignition/gazebo/components/Component.hh"
+#include "ignition/gazebo/components/Factory.hh"
+#include "ignition/gazebo/config.hh"
+
+namespace ignition
+{
+namespace gazebo
+{
+// Inline bracket to help doxygen filtering.
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
+namespace components
+{
+  /// \brief A component that holds the label of the object used by
+  /// Segmentation & Bounding box sensors to generate datasets annotations
+  using Label = Component<int, class LabelTag>;
+  IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.Label",
+      Label)
+}
+}
+}
+}
+#endif

include/ignition/gazebo/components/SegmentationCamera.hh

@@ -0,0 +1,45 @@
+/*
+ * Copyright (C) 2019 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_GAZEBO_COMPONENTS_SEGMENTATIONCAMERA_HH_
+#define IGNITION_GAZEBO_COMPONENTS_SEGMENTATIONCAMERA_HH_
+
+#include <sdf/Sensor.hh>
+
+#include <ignition/gazebo/components/Factory.hh>
+#include <ignition/gazebo/components/Component.hh>
+#include <ignition/gazebo/components/Serialization.hh>
+#include <ignition/gazebo/config.hh>
+
+namespace ignition
+{
+namespace gazebo
+{
+// Inline bracket to help doxygen filtering.
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
+namespace components
+{
+  /// \brief A component type that contains a Segmentation camera sensor,
+  /// sdf::Camera, information.
+  using SegmentationCamera = Component<sdf::Sensor, class SegmentationCameraTag,
+      serializers::SensorSerializer>;
+  IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.SegmentationCamera",
+      SegmentationCamera)
+}
+}
+}
+}
+#endif

src/SdfEntityCreator.cc

@@ -27,6 +27,7 @@
 #include "ignition/gazebo/components/Altimeter.hh"
 #include "ignition/gazebo/components/AngularVelocity.hh"
 #include "ignition/gazebo/components/Atmosphere.hh"
+#include "ignition/gazebo/components/BoundingBoxCamera.hh"
 #include "ignition/gazebo/components/Camera.hh"
 #include "ignition/gazebo/components/CanonicalLink.hh"
 #include "ignition/gazebo/components/CastShadows.hh"
@@ -62,6 +63,7 @@
 #include "ignition/gazebo/components/Pose.hh"
 #include "ignition/gazebo/components/RgbdCamera.hh"
 #include "ignition/gazebo/components/Scene.hh"
+#include "ignition/gazebo/components/SegmentationCamera.hh"
 #include "ignition/gazebo/components/SelfCollide.hh"
 #include "ignition/gazebo/components/Sensor.hh"
 #include "ignition/gazebo/components/SourceFilePath.hh"
@@ -778,6 +780,16 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Sensor *_sensor)
     this->dataPtr->ecm->CreateComponent(sensorEntity,
         components::ThermalCamera(*_sensor));
   }
+  else if (_sensor->Type() == sdf::SensorType::SEGMENTATION_CAMERA)
+  {
+    this->dataPtr->ecm->CreateComponent(sensorEntity,
+        components::SegmentationCamera(*_sensor));
+  }
+  else if (_sensor->Type() == sdf::SensorType::BOUNDINGBOX_CAMERA)
+  {
+    this->dataPtr->ecm->CreateComponent(sensorEntity,
+        components::BoundingBoxCamera(*_sensor));
+  }
   else if (_sensor->Type() == sdf::SensorType::AIR_PRESSURE)
   {
     this->dataPtr->ecm->CreateComponent(sensorEntity,