Label Component & System

include/ignition/gazebo/components/Label.hh

@@ -0,0 +1,42 @@
+/*
+ * Copyright (C) 2018 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/config.hh>
+#include <ignition/gazebo/Export.hh>
+#include "ignition/gazebo/components/Factory.hh"
+#include "ignition/gazebo/components/Component.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

src/rendering/RenderUtil.cc

@@ -57,6 +57,7 @@
 #include "ignition/gazebo/components/DepthCamera.hh"
 #include "ignition/gazebo/components/GpuLidar.hh"
 #include "ignition/gazebo/components/Geometry.hh"
+#include "ignition/gazebo/components/Label.hh"
 #include "ignition/gazebo/components/LaserRetro.hh"
 #include "ignition/gazebo/components/Light.hh"
 #include "ignition/gazebo/components/LightCmd.hh"
@@ -220,6 +221,9 @@ class ignition::gazebo::RenderUtilPrivate
   /// All temperatures are in Kelvin.
   public: std::map<Entity, std::tuple<float, float, std::string>> entityTemp;
 
+  /// \brief A map of entity ids and label data for datasets annotations
+  public: std::map<Entity, int> entityLabel;
+
   /// \brief A map of entity ids and wire boxes
   public: std::unordered_map<Entity, ignition::rendering::WireBoxPtr> wireBoxes;
 
@@ -637,6 +641,7 @@ void RenderUtil::Update()
   auto actorTransforms = std::move(this->dataPtr->actorTransforms);
   auto actorAnimationData = std::move(this->dataPtr->actorAnimationData);
   auto entityTemp = std::move(this->dataPtr->entityTemp);
+  auto entityLabel = std::move(this->dataPtr->entityLabel);
   auto newWireframeVisualLinks =
     std::move(this->dataPtr->newWireframeVisualLinks);
   auto newCollisionLinks = std::move(this->dataPtr->newCollisionLinks);
@@ -657,6 +662,7 @@ void RenderUtil::Update()
   this->dataPtr->actorTransforms.clear();
   this->dataPtr->actorAnimationData.clear();
   this->dataPtr->entityTemp.clear();
+  this->dataPtr->entityLabel.clear();
   this->dataPtr->newWireframeVisualLinks.clear();
   this->dataPtr->newCollisionLinks.clear();
   this->dataPtr->thermalCameraData.clear();
@@ -680,9 +686,7 @@ void RenderUtil::Update()
     if (scene.Grid() && !this->dataPtr->enableSensors)
       this->ShowGrid();
     if (scene.Sky())
-    {
       this->dataPtr->scene->SetSkyEnabled(true);
-    }
 
     // only one scene so break
     break;
@@ -971,9 +975,7 @@ void RenderUtil::Update()
 
         math::Pose3d globalPose;
         if (entityPoses.find(tf.first) != entityPoses.end())
-        {
           globalPose = entityPoses[tf.first];
-        }
 
         math::Pose3d trajPose;
         // Trajectory from the ECS
@@ -1096,8 +1098,7 @@ void RenderUtil::Update()
     if (!node)
       continue;
 
-    auto visual =
-        std::dynamic_pointer_cast<rendering::Visual>(node);
+    auto visual = std::dynamic_pointer_cast<rendering::Visual>(node);
     if (!visual)
       continue;
 
@@ -1112,6 +1113,20 @@ void RenderUtil::Update()
     }
   }
 
+  // set visual label
+  for (const auto &label : entityLabel)
+  {
+    auto node = this->dataPtr->sceneManager.NodeById(label.first);
+    if (!node)
+      continue;
+
+    auto visual = std::dynamic_pointer_cast<rendering::Visual>(node);
+    if (!visual)
+      continue;
+
+    visual->SetUserData("label", label.second);
+  }
+
   // create new wireframe visuals
   {
     for (const auto &link : newWireframeVisualLinks)
@@ -1329,6 +1344,13 @@ void RenderUtilPrivate::CreateRenderingEntities(
             visual.SetLaserRetro(laserRetro->Data());
           }
 
+          // set label
+          auto label = _ecm.Component<components::Label>(_entity);
+          if (label != nullptr)
+          {
+            this->entityLabel[_entity] = label->Data();
+          }
+
           if (auto temp = _ecm.Component<components::Temperature>(_entity))
           {
             // get the uniform temperature for the entity
@@ -1560,6 +1582,13 @@ void RenderUtilPrivate::CreateRenderingEntities(
             visual.SetLaserRetro(laserRetro->Data());
           }
 
+          // set label
+          auto label = _ecm.Component<components::Label>(_entity);
+          if (label != nullptr)
+          {
+            this->entityLabel[_entity] = label->Data();
+          }
+
           if (auto temp = _ecm.Component<components::Temperature>(_entity))
           {
             // get the uniform temperature for the entity

src/systems/CMakeLists.txt

@@ -105,6 +105,7 @@ add_subdirectory(joint_position_controller)
 add_subdirectory(joint_state_publisher)
 add_subdirectory(joint_traj_control)
 add_subdirectory(kinetic_energy_monitor)
+add_subdirectory(label)
 add_subdirectory(lift_drag)
 add_subdirectory(log)
 add_subdirectory(log_video_recorder)

src/systems/label/CMakeLists.txt

@@ -0,0 +1,4 @@
+gz_add_system(label
+  SOURCES
+    Label.cc
+)

src/systems/label/Label.cc

@@ -0,0 +1,93 @@
+/*
+ * 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.
+ *
+ */
+#include <limits>
+#include <string>
+
+#include <ignition/plugin/Register.hh>
+#include "ignition/gazebo/components/Label.hh"
+#include "ignition/gazebo/components/World.hh"
+#include "ignition/gazebo/components/Visual.hh"
+#include "ignition/gazebo/components/Link.hh"
+#include "ignition/gazebo/EntityComponentManager.hh"
+#include "Label.hh"
+
+using namespace ignition;
+using namespace gazebo;
+using namespace systems;
+
+//////////////////////////////////////////////////
+Label::Label() : System()
+{
+}
+
+//////////////////////////////////////////////////
+Label::~Label() = default;
+
+//////////////////////////////////////////////////
+void Label::Configure(const Entity &_entity,
+    const std::shared_ptr<const sdf::Element> &_sdf,
+    gazebo::EntityComponentManager &_ecm,
+    gazebo::EventManager & /*_eventMgr*/)
+{
+  const std::string labelTag = "label";
+
+  std::string parentName = _sdf->GetParent()->GetName();
+
+  if (!_sdf->HasElement(labelTag))
+  {
+    ignerr << "Failed to load Label system, label tag not found";
+    return;
+  }
+
+  int label = _sdf->Get<int>(labelTag);
+
+  if (label < 0 || label > 255)
+  {
+    ignerr << "Failed to Configure Label system, value " << label
+      << " is not in [0-255] range";
+    return;
+  }
+
+  /// Set the component to the visual to set its user data, but
+  /// if the plugin is inside the <model> tag, get its visual child
+  if (parentName == "visual")
+  {
+    _ecm.CreateComponent(_entity, components::Label(label));
+  }
+  else if (parentName == "model")
+  {
+    // get link child of parent model
+    auto links = _ecm.ChildrenByComponents<components::Link>(
+      _entity, components::Link());
+    if (links.size() > 0)
+    {
+      Entity linkEntity = links[0];
+
+      // get visual child of parent link
+      auto visuals = _ecm.ChildrenByComponents<components::Visual>(
+        linkEntity, components::Visual());
+      if (visuals.size() > 0)
+      {
+        Entity visualEntity = visuals[0];
+        _ecm.CreateComponent(visualEntity, components::Label(label));
+      }
+    }
+  }
+}
+
+IGNITION_ADD_PLUGIN(Label, System, Label::ISystemConfigure)
+IGNITION_ADD_PLUGIN_ALIAS(Label, "ignition::gazebo::systems::Label")

src/systems/label/Label.hh

@@ -0,0 +1,53 @@
+/*
+ * Copyright (C) 2018 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_SYSTEMS_LABEL_HH_
+#define IGNITION_GAZEBO_SYSTEMS_LABEL_HH_
+
+#include <memory>
+#include <ignition/gazebo/config.hh>
+#include <ignition/gazebo/System.hh>
+
+namespace ignition
+{
+namespace gazebo
+{
+// Inline bracket to help doxygen filtering.
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
+namespace systems
+{
+  /// \brief A label plugin that sets the label for the parent entity
+  class Label:
+    public System,
+    public ISystemConfigure
+  {
+    /// \brief Constructor
+    public: explicit Label();
+
+    /// \brief Destructor
+    public: ~Label() override;
+
+    /// Documentation inherited
+    public: void Configure(const Entity &_entity,
+                           const std::shared_ptr<const sdf::Element> &_sdf,
+                           EntityComponentManager &_ecm,
+                           gazebo::EventManager &_eventMgr) final;
+  };
+  }
+}
+}
+}
+#endif