Add temperature variations to thermal camera readings based on color #211
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Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
adlarkin
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Jan 25, 2021
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| /// \brief Helper function to convert an ogre Pbs datablck to Unlit datablock | ||
| /// \param[in] _in Input pbs datablock | ||
| /// \param[out] _out Output unlit datablock | ||
| public: static void PbsToUnlitDatablock(Ogre::HlmsPbsDatablock *_in, | ||
| Ogre::HlmsUnlitDatablock *_out); |
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Does this break API/ABI? Or are header files in the ogre2 directory built in a way that is different from headers in ign-rendering's include directory?
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Also, is there any reason why this method is marked static? And since _in is not modified in the function, should we mark the _in parameter as const?
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Adding a new static function should be fine, see a list of things allowed here
Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Ashton Larkin <[email protected]>
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iche033
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Feb 2, 2021
* started incorporating heat signature to thermal objects Signed-off-by: Ashton Larkin <[email protected]> * promising results with hardcoded texture Signed-off-by: Ashton Larkin <[email protected]> * heat signature for one object is working Signed-off-by: Ashton Larkin <[email protected]> * enable multiple objects with different heat signatures Signed-off-by: Ashton Larkin <[email protected]> * allow for users to specify a custom temperature range Signed-off-by: Ashton Larkin <[email protected]> * add check back in to fix missing background Signed-off-by: Ashton Larkin <[email protected]> * Add temperature variations to thermal camera readings based on color (#211) * vary non-heat source temp based on rgb balues Signed-off-by: Ian Chen <[email protected]> * add more comments, var to set rgb to temp Signed-off-by: Ian Chen <[email protected]> * add more doc Signed-off-by: Ian Chen <[email protected]> * remove comment Signed-off-by: Ian Chen <[email protected]> * feedback changes Signed-off-by: Ian Chen <[email protected]> * added reference link to RGB/grayscale equation Signed-off-by: Ashton Larkin <[email protected]> Co-authored-by: Ashton Larkin <[email protected]> * make sure user input temperature range is within [0,655.35] kelvin Signed-off-by: Ashton Larkin <[email protected]> * added heat signature thermal camera test Signed-off-by: Ashton Larkin <[email protected]> * added missing test texture and fixed codecheck Signed-off-by: Ashton Larkin <[email protected]> * revert addition of Ogre2Material::PbsToUnlitDatablock helper function Signed-off-by: Ashton Larkin <[email protected]> * address review feedback Signed-off-by: Ashton Larkin <[email protected]> * address windows warnings Signed-off-by: Ashton Larkin <[email protected]> Co-authored-by: Ian Chen <[email protected]>
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The thermal camera class has functions to set heat source and ambient temperature range. This was simulated by varying an object's temperature based on its depth value (distance from the camera). This PR provides an alternative way to vary an object's temperature based on its color value.
Non-heat source objects, i.e visuals without a uniform temperature or heat signature, will now have variations in their thermal readings as a function of color - the darker the object the warmer the object. See gazebosim/gz-sim#578 for an example output
Note: This is not how a physical thermal camera works. The goal is to provide automated way of simulating enough temperature differences so that thermal data processing algorithms are able to segment out different objects in the scene.