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Handle non-positive object temperatures #243

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Mar 17, 2021
Merged

Handle non-positive object temperatures #243

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39 changes: 23 additions & 16 deletions ogre2/src/Ogre2ThermalCamera.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -266,6 +266,7 @@ void Ogre2ThermalCameraMaterialSwitcher::preRenderTargetUpdate(
if (tempAny.index() != 0 && !std::holds_alternative<std::string>(tempAny))
{
float temp = -1.0;
bool foundTemp = true;
try
{
temp = std::get<float>(tempAny);
Expand All @@ -286,30 +287,36 @@ void Ogre2ThermalCameraMaterialSwitcher::preRenderTargetUpdate(
{
ignerr << "Error casting user data: " << e.what() << "\n";
temp = -1.0;
foundTemp = false;
}
}
}

// only accept positive temperature (in kelvin)
if (temp >= 0.0)
// if a non-positive temperature was given, clamp it to 0
if (foundTemp && temp < 0.0)
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This only clamps the temp value when foundTemp is true. Is it possible for foundTemp to be false and temp to be < 0.0? If so, should you handle that case?

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Is it possible for foundTemp to be false and temp to be < 0.0?

I don't think so. The only way foundTemp is set to true is if temperature is defined/attached to a visual, which would mean that <temperature> needs to be specified in the SDF file in the ign-gazebo context. If <temperature> is not specified, then this code should run (background object where object colors are used to define temperatures - since we're using rgb here, it shouldn't be possible to have an rgb value that is < 0): https://github.com/ignitionrobotics/ign-rendering/blob/8e0de0dd3e499c0fc0191a2cd8b794b0aab69980/ogre2/src/Ogre2ThermalCamera.cc#L387-L417

{
for (unsigned int i = 0; i < item->getNumSubItems(); ++i)
{
Ogre::SubItem *subItem = item->getSubItem(i);
temp = 0.0;
ignwarn << "Unable to set negatve temperature for: "
<< ogreVisual->Name() << ". Value cannot be lower than absolute "
<< "zero. Clamping temperature to 0 degrees Kelvin."
<< std::endl;
}
for (unsigned int i = 0; i < item->getNumSubItems(); ++i)
{
Ogre::SubItem *subItem = item->getSubItem(i);

// normalize temperature value
float color = (temp / this->resolution) / ((1 << bitDepth) - 1.0);
// normalize temperature value
float color = (temp / this->resolution) / ((1 << bitDepth) - 1.0);

// set g, b, a to 0. This will be used by shaders to determine
// if particular fragment is a heat source or not
// see media/materials/programs/thermal_camera_fs.glsl
subItem->setCustomParameter(this->customParamIdx,
Ogre::Vector4(color, 0, 0, 0.0));
Ogre::HlmsDatablock *datablock = subItem->getDatablock();
this->datablockMap[subItem] = datablock;
// set g, b, a to 0. This will be used by shaders to determine
// if particular fragment is a heat source or not
// see media/materials/programs/thermal_camera_fs.glsl
subItem->setCustomParameter(this->customParamIdx,
Ogre::Vector4(color, 0, 0, 0.0));
Ogre::HlmsDatablock *datablock = subItem->getDatablock();
this->datablockMap[subItem] = datablock;

subItem->setMaterial(this->heatSourceMaterial);
}
subItem->setMaterial(this->heatSourceMaterial);
}
}
// get heat signature and the corresponding min/max temperature values
Expand Down
29 changes: 13 additions & 16 deletions ogre2/src/media/materials/programs/thermal_camera_fs.glsl
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Original file line number Diff line number Diff line change
Expand Up @@ -71,29 +71,26 @@ void main()
bool isHeatSource = (rgba.g == 0.0 && rgba.b == 0.0 && rgba.a == 0.0);
float heat = rgba.r;

if (heat > 0.0)
if (isHeatSource)
{
if (isHeatSource)
{
// heat is normalized so convert back to work in kelvin
// for 16 bit camera and 0.01 resolution:
// ((1 << bitDepth) - 1) * resolution = 655.35
temp = heat * bitMaxValue * resolution;
// heat is normalized so convert back to work in kelvin
// for 16 bit camera and 0.01 resolution:
// ((1 << bitDepth) - 1) * resolution = 655.35
temp = heat * bitMaxValue * resolution;

// set temperature variation for heat source
heatRange = heatSourceTempRange;
}
else
{
// other non-heat source objects are assigned ambient temperature
temp = ambient;
}
// set temperature variation for heat source
heatRange = heatSourceTempRange;
}
else
{
// other non-heat source objects are assigned ambient temperature
temp = ambient;
}

// add temperature variation, either as a function of color or depth
if (rgbToTemp == 1)
{
if (heat > 0.0 && !isHeatSource)
if (!isHeatSource)
{
// convert to grayscale: darker = warmer
// (https://docs.opencv.org/3.4/de/d25/imgproc_color_conversions.html)
Expand Down