Add segmentation and bounding box sensor types

include/sdf/Sensor.hh

@@ -112,7 +112,13 @@ namespace sdf
     RGBD_CAMERA = 19,
 
     /// \brief A thermal camera sensor
-    THERMAL_CAMERA = 20
+    THERMAL_CAMERA = 20,
+
+    /// \brief A segmentation camera sensor
+    SEGMENTATION_CAMERA = 21,
+
+    /// \brief A boundingbox camera sensor
+    BOUNDINGBOX_CAMERA = 22
   };
 
   /// \brief Information about an SDF sensor.

sdf/1.9/sensor.sdf

@@ -12,6 +12,7 @@
                   altimeter,
                   camera,
                   contact,
+                  boundingbox_camera, boundingbox,
                   depth_camera, depth,
                   force_torque,
                   gps,
@@ -26,6 +27,7 @@
                   rfid,
                   rfidtag,
                   rgbd_camera, rgbd,
+                  segmentation_camera, segmentation,
                   sonar,
                   thermal_camera, thermal,
                   wireless_receiver, and

src/Sensor.cc

@@ -59,7 +59,9 @@ const std::vector<std::string> sensorTypeStrs =
   "wireless_transmitter",
   "air_pressure",
   "rgbd_camera",
-  "thermal_camera"
+  "thermal_camera",
+  "segmentation_camera",
+  "boundingbox_camera"
 };
 
 class sdf::Sensor::Implementation
@@ -155,6 +157,8 @@ bool Sensor::operator==(const Sensor &_sensor) const
     case SensorType::DEPTH_CAMERA:
     case SensorType::RGBD_CAMERA:
     case SensorType::THERMAL_CAMERA:
+    case SensorType::SEGMENTATION_CAMERA:
+    case SensorType::BOUNDINGBOX_CAMERA:
       return *(this->dataPtr->camera) == *(_sensor.dataPtr->camera);
     case SensorType::LIDAR:
       return *(this->dataPtr->lidar) == *(_sensor.dataPtr->lidar);
@@ -266,6 +270,20 @@ Errors Sensor::Load(ElementPtr _sdf)
     Errors err = this->dataPtr->camera->Load(_sdf->GetElement("camera"));
     errors.insert(errors.end(), err.begin(), err.end());
   }
+  else if (type == "segmentation" || type == "segmentation_camera")
+  {
+    this->dataPtr->type = SensorType::SEGMENTATION_CAMERA;
+    this->dataPtr->camera.emplace();
+    Errors err = this->dataPtr->camera->Load(_sdf->GetElement("camera"));
+    errors.insert(errors.end(), err.begin(), err.end());
+  }
+  else if (type == "boundingbox" || type == "boundingbox_camera")
+  {
+    this->dataPtr->type = SensorType::BOUNDINGBOX_CAMERA;
+    this->dataPtr->camera.emplace();
+    Errors err = this->dataPtr->camera->Load(_sdf->GetElement("camera"));
+    errors.insert(errors.end(), err.begin(), err.end());
+  }
   else if (type == "force_torque")
   {
     this->dataPtr->type = SensorType::FORCE_TORQUE;

src/Sensor_TEST.cc

@@ -244,6 +244,7 @@ TEST(DOMSensor, Type)
     sdf::SensorType::NONE,
     sdf::SensorType::ALTIMETER,
     sdf::SensorType::CAMERA,
+    sdf::SensorType::BOUNDINGBOX_CAMERA,
     sdf::SensorType::CONTACT,
     sdf::SensorType::DEPTH_CAMERA,
     sdf::SensorType::FORCE_TORQUE,
@@ -256,6 +257,7 @@ TEST(DOMSensor, Type)
     sdf::SensorType::LIDAR,
     sdf::SensorType::RFID,
     sdf::SensorType::RFIDTAG,
+    sdf::SensorType::SEGMENTATION_CAMERA,
     sdf::SensorType::SONAR,
     sdf::SensorType::WIRELESS_RECEIVER,
     sdf::SensorType::WIRELESS_TRANSMITTER,
@@ -265,6 +267,7 @@ TEST(DOMSensor, Type)
   {
     "none",
     "altimeter",
+    "boundingbox_camera",
     "camera",
     "contact",
     "depth_camera",
@@ -278,6 +281,7 @@ TEST(DOMSensor, Type)
     "lidar",
     "rfid",
     "rfidtag",
+    "segmentation_camera",
     "sonar",
     "wireless_receiver",
     "wireless_transmitter",

test/integration/link_dom.cc

@@ -242,7 +242,7 @@ TEST(DOMLink, Sensors)
   const sdf::Link *link = model->LinkByIndex(0);
   ASSERT_NE(nullptr, link);
   EXPECT_EQ("link", link->Name());
-  EXPECT_EQ(22u, link->SensorCount());
+  EXPECT_EQ(24u, link->SensorCount());
 
   // Get the altimeter sensor
   const sdf::Sensor *altimeterSensor = link->SensorByIndex(0);
@@ -345,6 +345,30 @@ TEST(DOMLink, Sensors)
   ASSERT_NE(nullptr, thermalCamSensor);
   EXPECT_EQ("my_thermal_camera", thermalCamSensor->Name());
 
+  // Get the segmentation sensor
+  const sdf::Sensor *segmentationSensor =
+    link->SensorByName("segmentation_sensor");
+  ASSERT_NE(nullptr, segmentationSensor);
+  EXPECT_EQ("segmentation_sensor", segmentationSensor->Name());
+  EXPECT_EQ(sdf::SensorType::SEGMENTATION_CAMERA, segmentationSensor->Type());
+  EXPECT_EQ(ignition::math::Pose3d(37, 38, 39, 0, 0, 0),
+            segmentationSensor->RawPose());
+  const sdf::Camera *segmentationCameraSensor =
+    segmentationSensor->CameraSensor();
+  ASSERT_NE(nullptr, segmentationCameraSensor);
+  EXPECT_EQ("my_segmentation_camera", segmentationCameraSensor->Name());
+
+  // Get the boundingbox sensor
+  const sdf::Sensor *boundingboxSensor = link->SensorByName("boundingbox_sensor");
+  ASSERT_NE(nullptr, boundingboxSensor);
+  EXPECT_EQ("boundingbox_sensor", boundingboxSensor->Name());
+  EXPECT_EQ(sdf::SensorType::BOUNDINGBOX_CAMERA, boundingboxSensor->Type());
+  EXPECT_EQ(ignition::math::Pose3d(37, 38, 39, 0, 0, 0),
+            boundingboxSensor->RawPose());
+  const sdf::Camera *boundingboxCamSensor = boundingboxSensor->CameraSensor();
+  ASSERT_NE(nullptr, boundingboxCamSensor);
+  EXPECT_EQ("my_boundingbox_camera", boundingboxCamSensor->Name());
+
   // Get the force_torque sensor
   const sdf::Sensor *forceTorqueSensor =
     link->SensorByName("force_torque_sensor");

test/sdf/sensors.sdf

@@ -308,7 +308,7 @@
         </lidar>
       </sensor>
 
- 
+
       <sensor name="rfid_sensor" type="rfid">
         <pose>4 5 6 0 0 0</pose>
       </sensor>
@@ -435,6 +435,121 @@
 
       </sensor>
 
+      <sensor name="segmentation_sensor" type="segmentation">
+        <pose>37 38 39 0 0 0</pose>
+        <camera name="my_segmentation_camera">
+          <pose>0.1 0.2 0.3 0 0 0</pose>
+          <horizontal_fov>.75</horizontal_fov>
+          <image>
+            <width>640</width>
+            <height>480</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.2</near>
+            <far>12.3</far>
+          </clip>
+
+          <save enabled="true">
+            <path>/tmp/cam</path>
+          </save>
+
+          <noise>
+            <type>gaussian</type>
+            <mean>0.5</mean>
+            <stddev>0.1</stddev>
+          </noise>
+
+          <distortion>
+            <k1>0.1</k1>
+            <k2>0.2</k2>
+            <k3>0.3</k3>
+            <p1>0.4</p1>
+            <p2>0.5</p2>
+            <center>0.2 0.4</center>
+          </distortion>
+          <lens>
+            <type>custom</type>
+            <scale_to_hfov>false</scale_to_hfov>
+            <custom_function>
+              <c1>1.1</c1>
+              <c2>2.2</c2>
+              <c3>3.3</c3>
+              <f>1.2</f>
+              <fun>sin</fun>
+            </custom_function>
+            <cutoff_angle>0.7505</cutoff_angle>
+            <env_texture_size>128</env_texture_size>
+            <intrinsics>
+              <fx>280</fx>
+              <fy>281</fy>
+              <cx>162</cx>
+              <cy>124</cy>
+              <s>1.2</s>
+            </intrinsics>
+          </lens>
+        </camera>
+
+      </sensor>
+
+      <sensor name="boundingbox_sensor" type="boundingbox">
+        <pose>37 38 39 0 0 0</pose>
+        <camera name="my_boundingbox_camera">
+          <pose>0.1 0.2 0.3 0 0 0</pose>
+          <horizontal_fov>.75</horizontal_fov>
+          <image>
+            <width>640</width>
+            <height>480</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.2</near>
+            <far>12.3</far>
+          </clip>
+
+          <save enabled="true">
+            <path>/tmp/cam</path>
+          </save>
+
+          <noise>
+            <type>gaussian</type>
+            <mean>0.5</mean>
+            <stddev>0.1</stddev>
+          </noise>
+
+          <distortion>
+            <k1>0.1</k1>
+            <k2>0.2</k2>
+            <k3>0.3</k3>
+            <p1>0.4</p1>
+            <p2>0.5</p2>
+            <center>0.2 0.4</center>
+          </distortion>
+          <lens>
+            <type>custom</type>
+            <scale_to_hfov>false</scale_to_hfov>
+            <custom_function>
+              <c1>1.1</c1>
+              <c2>2.2</c2>
+              <c3>3.3</c3>
+              <f>1.2</f>
+              <fun>sin</fun>
+            </custom_function>
+            <cutoff_angle>0.7505</cutoff_angle>
+            <env_texture_size>128</env_texture_size>
+            <intrinsics>
+              <fx>280</fx>
+              <fy>281</fy>
+              <cx>162</cx>
+              <cy>124</cy>
+              <s>1.2</s>
+            </intrinsics>
+          </lens>
+        </camera>
+
+      </sensor>
+
+
       <sensor name="wireless_receiver" type="wireless_receiver">
         <pose>13 14 15 0 0 0</pose>
       </sensor>