Merge ign-sensors6 ➡️ main

Changelog.md

@@ -6,6 +6,16 @@
 
 ## Gazebo Sensors 6
 
+### Gazebo Sensors 6.6.0 (2022-06-17)
+
+1. Add BoundingBox Sensor
+    * [Pull request #136](https://github.com/gazebosim/gz-sensors/pull/136)
+
+### Gazebo Sensors 6.5.0 (2022-05-24)
+
+1. Add HasConnections function
+    * [Pull request #222](https://github.com/gazebosim/gz-sensors/pull/222)
+
 ### Gazebo Sensors 6.4.0 (2022-05-13)
 
 1. Set lidar visibility mask

README.md

@@ -9,7 +9,7 @@
 
 Build | Status
 -- | --
-Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-sensors/branch/main/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-sensors)
+Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-sensors/branch/main/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-sensors/branch/main)
 Ubuntu Focal | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_sensors-ci-main-focal-amd64)](https://build.osrfoundation.org/job/ignition_sensors-ci-main-focal-amd64)
 Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_sensors-ci-main-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_sensors-ci-main-homebrew-amd64)
 Windows       | [![Build Status](https://build.osrfoundation.org/job/ign_sensors-ci-win/badge/icon)](https://build.osrfoundation.org/job/ign_sensors-ci-win/)
@@ -53,7 +53,7 @@ models into sensor streams.
 
 # Install
 
-See the [installation tutorial](https://gazebosim.org/api/sensors/5.0/installation.html).
+See the [installation tutorial](https://gazebosim.org/api/sensors/7.0/installation.html).
 
 # Usage
 

include/gz/sensors/BoundingBoxCameraSensor.hh

@@ -0,0 +1,116 @@
+/*
+ * 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 GZ_SENSORS_BOUNDINGBOXCAMERASENSOR_HH_
+#define GZ_SENSORS_BOUNDINGBOXCAMERASENSOR_HH_
+
+#include <memory>
+#include <vector>
+
+#include <gz/rendering/BoundingBoxCamera.hh>
+#include <sdf/Sensor.hh>
+
+#include "gz/sensors/CameraSensor.hh"
+#include "gz/sensors/boundingbox_camera/Export.hh"
+
+namespace gz
+{
+  namespace sensors
+  {
+    // Inline bracket to help doxygen filtering.
+    inline namespace GZ_SENSORS_VERSION_NAMESPACE {
+    // forward declarations
+    class BoundingBoxCameraSensorPrivate;
+
+    /// \brief BoundingBox camera sensor class.
+    ///
+    /// This class creates a BoundingBox image from an gz rendering scene.
+    /// The scene must be created in advance and given to Manager::Init().
+    /// It offers both an gz-transport interface and a direct C++ API
+    /// to access the image data. The API works by setting a callback to be
+    /// called with image data.
+    class GZ_SENSORS_BOUNDINGBOX_CAMERA_VISIBLE
+      BoundingBoxCameraSensor : public CameraSensor
+    {
+      /// \brief constructor
+      public: BoundingBoxCameraSensor();
+
+      /// \brief destructor
+      public: virtual ~BoundingBoxCameraSensor();
+
+      /// \brief Load the sensor based on data from an sdf::Sensor object.
+      /// \param[in] _sdf SDF Sensor parameters.
+      /// \return true if loading was successful
+      public: virtual bool Load(const sdf::Sensor &_sdf) override;
+
+      /// \brief Load the sensor with SDF parameters.
+      /// \param[in] _sdf SDF Sensor parameters.
+      /// \return true if loading was successful
+      public: virtual bool Load(sdf::ElementPtr _sdf) override;
+
+      /// \brief Initialize values in the sensor
+      /// \return True on success
+      public: virtual bool Init() override;
+
+      /// \brief Force the sensor to generate data
+      /// \param[in] _now The current time
+      /// \return true if the update was successful
+      public: virtual bool Update(
+        const std::chrono::steady_clock::duration &_now) override;
+
+      /// \brief Get the rendering BoundingBox camera
+      /// \return BoundingBox camera pointer
+      public: virtual rendering::BoundingBoxCameraPtr
+        BoundingBoxCamera() const;
+
+      /// \brief Callback on new bounding boxes from bounding boxes camera
+      /// \param[in] _boxes Detected bounding boxes from the camera
+      public: void OnNewBoundingBoxes(
+        const std::vector<rendering::BoundingBox> &_boxes);
+
+      /// \brief Set the rendering scene.
+      /// \param[in] _scene Pointer to the scene
+      public: virtual void SetScene(
+                  rendering::ScenePtr _scene) override;
+
+      /// \brief Get image width.
+      /// \return width of the image
+      public: virtual unsigned int ImageWidth() const override;
+
+      /// \brief Get image height.
+      /// \return height of the image
+      public: virtual unsigned int ImageHeight() const override;
+
+      /// \brief Check if there are any subscribers
+      /// \return True if there are subscribers, false otherwise
+      public: virtual bool HasConnections() const override;
+
+      /// \brief Create a camera in a scene
+      /// \return True on success.
+      private: bool CreateCamera();
+
+      GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
+      /// \brief Data pointer for private data
+      /// \internal
+      private: std::unique_ptr<BoundingBoxCameraSensorPrivate> dataPtr;
+      GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
+    };
+    }
+  }
+}
+
+#endif

include/ignition/sensors/BoundingBoxCameraSensor.hh

@@ -0,0 +1,19 @@
+/*
+ * Copyright (C) 2022 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 <gz/sensors/BoundingBoxCameraSensor.hh>
+#include <ignition/sensors/config.hh>