Add segmentation and bounding box sensor types

[AmrElsersy]

🎉 New feature

related to #134 #135

Summary

Added new types for SDF::Sensor to support Segmentation & BoundingBox Sensors

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Code check passed (In source directory, run sh tools/code_check.sh)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review

[adlarkin]

Looks good so far, but we should do a few more things before merging this:

1. Can you update test/integration/link_dom.cc to test the code path from XML to C++ for the new sensor types? Here's an example you can follow: https://github.com/osrf/sdformat/blob/sdformat11_11.1.0/test/integration/link_dom.cc#L337-L346
2. Can you update the sensors unit test? You'll need to add the new types here: https://github.com/osrf/sdformat/blob/sdformat11_11.1.0/src/Sensor_TEST.cc#L243-L285
3. Can you update the sensor documentation to include these new types? You'll want to update sdf/1.9/sensor.sdf: https://github.com/osrf/sdformat/blob/1a779837277034ec45f67cc9f1ea9a47bf4bfd9a/sdf/1.9/sensor.sdf#L11-L32
4. Can you change the name of the PR to say something like "add segmentation and bounding box sensor types"? The current PR name is generic, and doesn't really give any information about the changes being made.

[chapulina]

I noticed that the bounding box camera implementation in gazebosim/gz-rendering#334 accepts some configuration: visible / full. Do we want users to be able to configure that through SDF? Are there any other configurations we may want to add here for either sensor?

[adlarkin]

I noticed that the bounding box camera implementation in ignitionrobotics/ign-rendering#334 accepts some configuration: visible / full. Do we want users to be able to configure that through SDF? Are there any other configurations we may want to add here for either sensor?

I think it's likely that we will want users to configure visible/full through SDF, and there's a chance that there are other configurations we'd want to add to these sensors as well. I think that the best approach is to finish reviewing/iterating over all of the other bounding box/segmentation PRs before merging this PR - that way, if we find that the SDF configuration needs to be modified at all, we can do so before merging.

[AmrElsersy]

@chapulina @adlarkin
I do these configurations in ign-sensors, by getting them through the SDF
like that: https://github.com/ignitionrobotics/ign-sensors/pull/133/files#diff-3a47a41297adece53d9e25cb71940e30d655d1a491020c1a8fe918a4f1a95ac2R146

std::string type = sdfElement->Get<std::string>("segmentation_type");

is that a bad way to do that ? :D

[adlarkin]

I do these configurations in ign-sensors, by getting them through the SDF
like that: https://github.com/ignitionrobotics/ign-sensors/pull/133/files#diff-3a47a41297adece53d9e25cb71940e30d655d1a491020c1a8fe918a4f1a95ac2R146

std::string type = sdfElement->Get<std::string>("segmentation_type");

is that a bad way to do that ? :D

I think what you're doing in ign-sensors is correct, but we want to make sure that we document these configurations in SDF so that users know there are additional/unique parameters that they can configure for the segmentation and bounding box sensors.

So, we may need to add files like segmentation_camera.sdf and boundingbox_camera.sdf (I'm not sure what the naming conventions should be for these files - do you know, @chapulina?) to the sdf/1.9/ directory, and then include these files in sdf/1.9/sensors.sdf. These new *.sdf files would specify the elements that are unique to the segmentation and bounding box sensors. Here's an example with the air pressure sensor:

• air_pressure.sdf - this file is what specifies the elements that are unique to an air pressure sensor.
• Including air_pressure.sdf in sensors.sdf: https://github.com/osrf/sdformat/blob/1a779837277034ec45f67cc9f1ea9a47bf4bfd9a/sdf/1.9/sensor.sdf#L55

[chapulina]

I'm not sure what the naming conventions should be for these files - do you know, @chapulina?

Just looking at the existing files, your suggestions look good

[AmrElsersy]

I will add the sdf examples in the ign-sensors repo, as we discussed ashton, so I think this PR should be ready to review.

[adlarkin]

Can you also address the changes mentioned in #592 (comment)?

[adlarkin]

Tests in CI are failing, @AmrElsersy can you address the failures?

[codecov-commenter]

Codecov Report

Merging #592 (e57f69a) into main (afdf3a5) will increase coverage by 0.03%.
The diff coverage is 100.00%.

❗ Current head e57f69a differs from pull request most recent head c705b80. Consider uploading reports for the commit c705b80 to get more accurate results

@@            Coverage Diff             @@
##             main     #592      +/-   ##
==========================================
+ Coverage   87.94%   87.98%   +0.03%     
==========================================
  Files          72       72              
  Lines       10893    10929      +36     
==========================================
+ Hits         9580     9616      +36     
  Misses       1313     1313              

Impacted Files	Coverage Δ
src/Camera.cc	83.55% <100.00%> (+1.23%)	⬆️
src/Sensor.cc	81.19% <100.00%> (+0.83%)	⬆️

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[adlarkin]

Nice work!

[azeey]

Looks good! Just a couple nits.

[osrf-triage]

This pull request has been mentioned on Gazebo Community. There might be relevant details there:

https://community.gazebosim.org/t/gsoc-2021-machine-learning-extension-to-ignition-gazebo/1070/1