Segmentation Camera

[AmrElsersy]

🎉 New feature

related to #134

Summary

Segmentation Camera to capture semantic information, Implemented using OGRE 2 by using the material switching to provide Semantic & Panoptic Segmentation

Semantic Segmentation

• Pixels of same label from different items, have the same color & id

Panoptic Segmentation

• Pixels of same label from different items, have different color & id
• 1 channel for label id & 2 channels for instance id

Features:

• Supports both Semantic Ids map(where each pixel has a value = label id) & Colored map(where each pixel has a color) for visualization purposes
• The user label each item by setting its UserData
• Each unlabeled item is considered as a background
• Added example in ign-rendering/examples to try it easily

[mjcarroll]

Overall looking really good. A few notes:

• Copyright 2021 on newly-created files
• ifdefs get all caps
• Initialize pointers to nullptr

[ahcorde]

check linters https://github.com/ignitionrobotics/ign-rendering/pull/329/checks?check_run_id=2712808360

[adlarkin]

Can you add some tests for the segmentation camera as well? It would be great to have unit tests (in the src/ directory) and an integration test (in the test/integration/ directory).

[adlarkin]

The sensor itself seems to work well, but I did find a few issues with mouse functionality in the example. Since we want to get this in for Fortress, I'm approving this so that it can get merged, but I've ticketed an issue that outlines the mouse functionality issues in the example so that we can work on fixing them later: #414

[codecov]

Codecov Report

Merging #329 (b40fa21) into main (b2da7e1) will increase coverage by 0.31%.
The diff coverage is 71.16%.

@@            Coverage Diff             @@
##             main     #329      +/-   ##
==========================================
+ Coverage   54.74%   55.06%   +0.31%     
==========================================
  Files         187      191       +4     
  Lines       18890    19265     +375     
==========================================
+ Hits        10342    10608     +266     
- Misses       8548     8657     +109     

Impacted Files	Coverage Δ
include/ignition/rendering/Scene.hh	0.00% <ø> (ø)
include/ignition/rendering/base/BaseScene.hh	0.00% <0.00%> (ø)
ogre2/src/Ogre2SegmentationMaterialSwitcher.cc	62.77% <62.77%> (ø)
.../ignition/rendering/base/BaseSegmentationCamera.hh	70.96% <70.96%> (ø)
ogre2/src/Ogre2SegmentationCamera.cc	75.67% <75.67%> (ø)
include/ignition/rendering/SegmentationCamera.hh	100.00% <100.00%> (ø)
ogre2/src/Ogre2Scene.cc	76.69% <100.00%> (+0.15%)	⬆️
ogre2/src/Ogre2ThermalCamera.cc	89.51% <100.00%> (ø)
src/base/BaseScene.cc	75.33% <100.00%> (+0.48%)	⬆️
... and 3 more

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[adlarkin]

It looks like there's a new warning on ubuntu CI that we should fix before merging:

   CONFIGURATION WARNINGS:
   -- Missing dependency [IgnOGRE] (Components: RTShaderSystem, Terrain, Overlay)
Call Stack (most recent call first):

[iche033]

It looks like there's a new warning on ubuntu CI that we should fix before merging:

could be related to #400, which is fixed in #411

[adlarkin]

fixed in #411

Yeah, I think you're right. It looks like #411 hasn't been forward ported to main yet, so should we go ahead and merge this since the Ubuntu CI warning seems to be a false positive?

Feedback has been addressed