--[BE][WIP] - Sensor Wrappers and Wrapper Manager

src/esp/CMakeLists.txt

@@ -457,23 +457,34 @@ set(nav_SOURCES
 ## sensor
 set(
   sensor_SOURCES
+  sensor/AudioSensor.cpp
+  sensor/AudioSensor.h
+  sensor/AudioSensorStubs.h
   sensor/CameraSensor.cpp
   sensor/CameraSensor.h
   sensor/CubeMapSensorBase.cpp
   sensor/CubeMapSensorBase.h
+  sensor/EquirectangularSensor.cpp
+  sensor/EquirectangularSensor.h
+  sensor/FisheyeSensor.cpp
+  sensor/FisheyeSensor.h
+  sensor/sensorManagers/SensorWrapperManager.cpp
+  sensor/sensorManagers/SensorWrapperManager.h
+  sensor/sensorManagers/SensorWrapperBaseManager.h
+  sensor/sensorWrappers/ManagedAudioSensor.h
+  sensor/sensorWrappers/ManagedCameraSensor.h
+  sensor/sensorWrappers/ManagedCubeMapSensorBase.h
+  sensor/sensorWrappers/ManagedEquirectangularSensor.h
+  sensor/sensorWrappers/ManagedFisheyeSensor.h
+  sensor/sensorWrappers/ManagedSensorBase.h
+  sensor/sensorWrappers/ManagedSensorTemplates.h
+  sensor/sensorWrappers/ManagedVisualSensorBase.h
   sensor/Sensor.cpp
   sensor/Sensor.h
   sensor/SensorFactory.cpp
   sensor/SensorFactory.h
   sensor/VisualSensor.cpp
   sensor/VisualSensor.h
-  sensor/FisheyeSensor.cpp
-  sensor/FisheyeSensor.h
-  sensor/EquirectangularSensor.cpp
-  sensor/EquirectangularSensor.h
-  sensor/AudioSensor.cpp
-  sensor/AudioSensor.h
-  sensor/AudioSensorStubs.h
 )
 
 if(BUILD_WITH_CUDA)

src/esp/physics/objectWrappers/ManagedArticulatedObject.h

@@ -21,8 +21,8 @@ class ManagedArticulatedObject
  public:
   explicit ManagedArticulatedObject(
       const std::string& classKey = "ManagedArticulatedObject")
-      : AbstractManagedPhysicsObject<esp::physics::ArticulatedObject>(
-            classKey) {}
+      : AbstractManagedPhysicsObject<esp::physics::ArticulatedObject>::
+            AbstractManagedPhysicsObject(classKey) {}
 
   /**
    * @brief Get a copy of the template attributes describing the initial state

src/esp/sensor/AudioSensor.cpp

@@ -78,17 +78,16 @@ void AudioSensor::reset() {
   impulseResponse_.clear();
 }
 
-void AudioSensor::setAudioSourceTransform(const Magnum::Vector3& sourcePos) {
+void AudioSensor::setAudioSourceTransform(const Mn::Vector3& sourcePos) {
   ESP_DEBUG() << logHeader_
               << "Setting the audio source position : " << sourcePos << "]";
   lastSourcePos_ = sourcePos;
   // track if the source has changed
   newSource_ = true;
 }
 
-void AudioSensor::setAudioListenerTransform(
-    const Magnum::Vector3& agentPos,
-    const Magnum::Vector4& agentRotQuat) {
+void AudioSensor::setAudioListenerTransform(const Mn::Vector3& agentPos,
+                                            const Mn::Vector4& agentRotQuat) {
   ESP_DEBUG() << logHeader_ << "Setting the agent transform : position ["
               << agentPos << "], rotQuat[" << agentRotQuat << "]";
 

src/esp/sensor/AudioSensor.h

@@ -68,15 +68,15 @@ class AudioSensor : public Sensor {
    * @brief Set the audio source transform
    * @param sourcePos = vec3 source position
    * */
-  void setAudioSourceTransform(const Magnum::Vector3& sourcePos);
+  void setAudioSourceTransform(const Mn::Vector3& sourcePos);
 
   /**
    * @brief Set the audio listener position and orientation
    * @param agentPos = vec3 agent position
    * @param agentRotQuat = vec4 agent rotation quaternion
    * */
-  void setAudioListenerTransform(const Magnum::Vector3& agentPos,
-                                 const Magnum::Vector4& agentRotQuat);
+  void setAudioListenerTransform(const Mn::Vector3& agentPos,
+                                 const Mn::Vector4& agentRotQuat);
 
   /**
    * @brief Run the audio simulation. This will run the RLRAudioPropagation code
@@ -146,11 +146,11 @@ class AudioSensor : public Sensor {
   //! track the number of simulations
   std::int32_t currentSimCount_ = -1;
   //! track the source position
-  Magnum::Vector3 lastSourcePos_;
+  Mn::Vector3 lastSourcePos_;
   //! track the agent orientation
-  Magnum::Vector3 lastAgentPos_;
+  Mn::Vector3 lastAgentPos_;
   //! track the agent rotation
-  Magnum::Vector4 lastAgentRot_;
+  Mn::Vector4 lastAgentRot_;
   //! audio materials json path
   std::string audioMaterialsJSON_;
 

src/esp/sensor/CameraSensor.cpp

@@ -69,8 +69,8 @@ Mn::Matrix4 CameraSensorSpec::projectionMatrix() const {
 CameraSensor::CameraSensor(scene::SceneNode& cameraNode,
                            const CameraSensorSpec::ptr& spec)
     : VisualSensor(cameraNode, spec),
-      baseProjMatrix_(Magnum::Math::IdentityInit),
-      zoomMatrix_(Magnum::Math::IdentityInit),
+      baseProjMatrix_(Mn::Math::IdentityInit),
+      zoomMatrix_(Mn::Math::IdentityInit),
       renderCamera_(new gfx::RenderCamera(cameraNode,
                                           visualSensorSpec_->semanticTarget)) {
   // Sanity check
@@ -177,8 +177,7 @@ bool CameraSensor::drawObservation(sim::Simulator& sim) {
   return true;
 }
 
-Corrade::Containers::Optional<Magnum::Vector2> CameraSensor::depthUnprojection()
-    const {
+Cr::Containers::Optional<Mn::Vector2> CameraSensor::depthUnprojection() const {
   // projectionMatrix_ is managed by implementation class and is set whenever
   // quantities change.
   return {gfx_batch::calculateDepthUnprojection(projectionMatrix_)};

src/esp/sensor/CameraSensor.h

@@ -21,7 +21,7 @@ struct CameraSensorSpec : public VisualSensorSpec {
   CameraSensorSpec();
   void sanityCheck() const override;
   bool operator==(const CameraSensorSpec& a) const;
-  Magnum::Matrix4 projectionMatrix() const;
+  Mn::Matrix4 projectionMatrix() const;
   ESP_SMART_POINTERS(CameraSensorSpec)
 };
 
@@ -50,8 +50,7 @@ class CameraSensor : public VisualSensor {
    * perspective projection model.
    * See @ref gfx::calculateDepthUnprojection
    */
-  Corrade::Containers::Optional<Magnum::Vector2> depthUnprojection()
-      const override;
+  Cr::Containers::Optional<Mn::Vector2> depthUnprojection() const override;
 
   /**
    * @brief Draw an observation to the frame buffer using simulator's renderer
@@ -66,8 +65,7 @@ class CameraSensor : public VisualSensor {
    * @param factor Modification amount.
    */
   void modifyZoom(float factor) {
-    zoomMatrix_ =
-        Magnum::Matrix4::scaling({factor, factor, 1.0f}) * zoomMatrix_;
+    zoomMatrix_ = Mn::Matrix4::scaling({factor, factor, 1.0f}) * zoomMatrix_;
     recomputeProjectionMatrix();
   }
 
@@ -76,7 +74,7 @@ class CameraSensor : public VisualSensor {
    * values.
    */
   void resetZoom() {
-    zoomMatrix_ = Magnum::Matrix4(Magnum::Math::IdentityInit);
+    zoomMatrix_ = Mn::Matrix4(Mn::Math::IdentityInit);
     recomputeProjectionMatrix();
   }
 
@@ -197,17 +195,17 @@ class CameraSensor : public VisualSensor {
    * @brief This camera's projection matrix. Should be recomputed every time
    * size changes.
    */
-  Magnum::Matrix4 projectionMatrix_;
+  Mn::Matrix4 projectionMatrix_;
 
   /**
    * @brief A base projection matrix based on camera's type and display size.
    */
-  Magnum::Matrix4 baseProjMatrix_;
+  Mn::Matrix4 baseProjMatrix_;
 
   /**
    * @brief A matrix to determine the zoom for the projection.
    */
-  Magnum::Matrix4 zoomMatrix_;
+  Mn::Matrix4 zoomMatrix_;
 
   /** @brief size of near plane
    */

src/esp/sensor/CubeMapSensorBase.cpp

@@ -8,9 +8,6 @@
 #include <Corrade/Utility/Assert.h>
 #include <Corrade/Utility/FormatStl.h>
 
-namespace Mn = Magnum;
-namespace Cr = Corrade;
-
 namespace esp {
 namespace sensor {
 
@@ -28,11 +25,11 @@ void CubeMapSensorBaseSpec::sanityCheck() const {
   }
 }
 
-int computeCubemapSize(const Magnum::Vector2i& resolution,
+int computeCubemapSize(const Mn::Vector2i& resolution,
                        const Cr::Containers::Optional<int>& cubemapSize) {
   int size = (resolution[0] < resolution[1] ? resolution[0] : resolution[1]);
   // if user sets the size of the cubemap, use it
-  if (cubemapSize != Corrade::Containers::NullOpt) {
+  if (cubemapSize != Cr::Containers::NullOpt) {
     size = *cubemapSize;
   }
   return size;

src/esp/sensor/CubeMapSensorBase.h

@@ -26,7 +26,7 @@ struct CubeMapSensorBaseSpec : public VisualSensorSpec {
   /**
    * @brief the size of the cubemap
    */
-  Corrade::Containers::Optional<int> cubemapSize = Corrade::Containers::NullOpt;
+  Cr::Containers::Optional<int> cubemapSize = Cr::Containers::NullOpt;
 
   /**
    * @brief Constructor
@@ -75,22 +75,22 @@ class CubeMapSensorBase : public VisualSensor {
   // raw pointer only, we can create it but let magnum to handle the memory
   // recycling when releasing it.
   gfx::CubeMapCamera* cubeMapCamera_;
-  Corrade::Containers::Optional<esp::gfx::CubeMap> cubeMap_;
+  Cr::Containers::Optional<esp::gfx::CubeMap> cubeMap_;
 
   // a big triangles that covers the whole screen
-  Magnum::GL::Mesh mesh_;
+  Mn::GL::Mesh mesh_;
 
   // cubemap shader resource manager, which manages different shaders such as
   // DoubleSphereCameraShader, FieldOfViewCameraShader (TODO),
   // EquiRectangularShader ...
-  Magnum::ResourceManager<gfx::CubeMapShaderBase> cubeMapShaderBaseManager_;
+  Mn::ResourceManager<gfx::CubeMapShaderBase> cubeMapShaderBaseManager_;
 
   gfx::CubeMapShaderBase::Flags cubeMapShaderBaseFlags_{};
 
-  virtual Magnum::ResourceKey getShaderKey() = 0;
+  virtual Mn::ResourceKey getShaderKey() = 0;
 
   template <typename T>
-  Magnum::Resource<gfx::CubeMapShaderBase, T> getShader();
+  Mn::Resource<gfx::CubeMapShaderBase, T> getShader();
 
   /**
    * @brief render the sense into cubemap textures
@@ -108,8 +108,8 @@ class CubeMapSensorBase : public VisualSensor {
 };
 
 template <typename T>
-Magnum::Resource<gfx::CubeMapShaderBase, T> CubeMapSensorBase::getShader() {
-  Magnum::Resource<gfx::CubeMapShaderBase, T> shader =
+Mn::Resource<gfx::CubeMapShaderBase, T> CubeMapSensorBase::getShader() {
+  Mn::Resource<gfx::CubeMapShaderBase, T> shader =
       cubeMapShaderBaseManager_.get<gfx::CubeMapShaderBase, T>(getShaderKey());
   if (!shader) {
     cubeMapShaderBaseManager_.set<gfx::CubeMapShaderBase>(

src/esp/sensor/EquirectangularSensor.cpp

@@ -9,9 +9,6 @@
 #include "esp/gfx/EquirectangularShader.h"
 #include "esp/sim/Simulator.h"
 
-namespace Mn = Magnum;
-namespace Cr = Corrade;
-
 namespace esp {
 namespace sensor {
 
@@ -40,7 +37,7 @@ bool EquirectangularSensor::drawObservation(sim::Simulator& sim) {
     return false;
   }
   renderToCubemapTexture(sim);
-  Magnum::Resource<gfx::CubeMapShaderBase, gfx::EquirectangularShader> shader =
+  Mn::Resource<gfx::CubeMapShaderBase, gfx::EquirectangularShader> shader =
       getShader<gfx::EquirectangularShader>();
 
   (*shader).setViewportSize(equirectangularSensorSpec_->resolution);

src/esp/sensor/EquirectangularSensor.h

@@ -73,7 +73,7 @@ class EquirectangularSensor : public CubeMapSensorBase {
  protected:
   EquirectangularSensorSpec::ptr equirectangularSensorSpec_ =
       std::dynamic_pointer_cast<EquirectangularSensorSpec>(spec_);
-  Magnum::ResourceKey getShaderKey() override;
+  Mn::ResourceKey getShaderKey() override;
   ESP_SMART_POINTERS(EquirectangularSensor)
 };
 

src/esp/sensor/FisheyeSensor.cpp

@@ -8,9 +8,6 @@
 #include <Corrade/Utility/Assert.h>
 #include <Corrade/Utility/FormatStl.h>
 
-namespace Mn = Magnum;
-namespace Cr = Corrade;
-
 namespace esp {
 namespace sensor {
 
@@ -48,7 +45,7 @@ void specSanityCheck(FisheyeSensorSpec* spec) {
   actualSpec->sanityCheck();
 }
 
-Magnum::Vector2 computePrincipalPointOffset(const FisheyeSensorSpec& spec) {
+Mn::Vector2 computePrincipalPointOffset(const FisheyeSensorSpec& spec) {
   if (bool(spec.principalPointOffset)) {
     return *spec.principalPointOffset;
   }
@@ -86,7 +83,7 @@ bool FisheyeSensor::drawObservation(sim::Simulator& sim) {
 
   switch (fisheyeSensorSpec_->fisheyeModelType) {
     case FisheyeSensorModelType::DoubleSphere: {
-      Magnum::Resource<gfx::CubeMapShaderBase, gfx::DoubleSphereCameraShader>
+      Mn::Resource<gfx::CubeMapShaderBase, gfx::DoubleSphereCameraShader>
           shader = getShader<gfx::DoubleSphereCameraShader>();
       auto& actualSpec =
           static_cast<FisheyeSensorDoubleSphereSpec&>(*fisheyeSensorSpec_);

src/esp/sensor/FisheyeSensor.h

@@ -24,7 +24,7 @@ class Simulator;
 
 namespace sensor {
 
-enum class FisheyeSensorModelType : Magnum::UnsignedInt {
+enum class FisheyeSensorModelType : Mn::UnsignedInt {
 
   // Vladyslav Usenko, Nikolaus Demmel and Daniel Cremers: The Double Sphere
   // Camera Model, The International Conference on 3D Vision (3DV), 2018
@@ -46,13 +46,13 @@ struct FisheyeSensorSpec : public CubeMapSensorBaseSpec {
    * In practice, fx and fy can differ for a number of reasons. See
    * details here: http://ksimek.github.io/2013/08/13/intrinsic/
    */
-  Magnum::Vector2 focalLength;
+  Mn::Vector2 focalLength;
   /**
    * @brief Principal Point Offset in pixel, cx, cy, location of the principal
    * point relative to the image plane's origin. None will place it in the
    * middle of the image (height/2, width/2).
    */
-  Corrade::Containers::Optional<Magnum::Vector2> principalPointOffset;
+  Cr::Containers::Optional<Mn::Vector2> principalPointOffset;
 
   /**
    * @brief Constructor
@@ -127,7 +127,7 @@ class FisheyeSensor : public CubeMapSensorBase {
  protected:
   FisheyeSensorSpec::ptr fisheyeSensorSpec_ =
       std::dynamic_pointer_cast<FisheyeSensorSpec>(spec_);
-  Magnum::ResourceKey getShaderKey() override;
+  Mn::ResourceKey getShaderKey() override;
 
   ESP_SMART_POINTERS(FisheyeSensor)
 };