Thermal Camera: Visualize objects with a heat signature #189

adlarkin · 2020-12-22T21:02:46Z

Requires gazebosim/gz-sim#498 and makes use of #211.

This expands the current capabilities of the thermal camera to allow for rendering of objects with a heat signature. Currently, only objects with a uniform temperature are rendered by the thermal camera (objects with a heat signature can have varying temperature).

To learn how to use/test these updates, please see the related tutorial: gazebosim/gz-sensors#79

Testing can be done by running:

ign gazebo -r thermal_camera.sdf

TODO

Update thermal camera unit tests (after further inspection, these don't need to be updated)
Update thermal camera integration tests
Address any TODOs in the code (look at files changed)

Signed-off-by: Ashton Larkin ashton@openrobotics.org

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

codecov · 2020-12-22T21:22:17Z

Codecov Report

Merging #189 (6f1c4be) into ign-rendering4 (cac86c8) will increase coverage by 0.03%.
The diff coverage is 74.57%.

@@                Coverage Diff                 @@
##           ign-rendering4     #189      +/-   ##
==================================================
+ Coverage           52.50%   52.54%   +0.03%     
==================================================
  Files                 143      143              
  Lines               13369    13410      +41     
==================================================
+ Hits                 7020     7046      +26     
- Misses               6349     6364      +15

Impacted Files	Coverage Δ
...lude/ignition/rendering/ogre2/Ogre2RenderEngine.hh	`100.00% <ø> (ø)`
ogre2/src/Ogre2ThermalCamera.cc	`89.87% <74.57%> (-3.81%)`	⬇️

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ogre2/src/Ogre2ThermalCamera.cc

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

ogre2/src/Ogre2ThermalCamera.cc

ogre2/src/media/materials/programs/heat_signature_fs.glsl

…211) * vary non-heat source temp based on rgb balues Signed-off-by: Ian Chen <ichen@osrfoundation.org> * add more comments, var to set rgb to temp Signed-off-by: Ian Chen <ichen@osrfoundation.org> * add more doc Signed-off-by: Ian Chen <ichen@osrfoundation.org> * remove comment Signed-off-by: Ian Chen <ichen@osrfoundation.org> * feedback changes Signed-off-by: Ian Chen <ichen@osrfoundation.org> * added reference link to RGB/grayscale equation Signed-off-by: Ashton Larkin <ashton@openrobotics.org> Co-authored-by: Ashton Larkin <ashton@openrobotics.org>

…mera

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

…mera

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

adlarkin

@iche033, I've got a few final comments/questions.

ogre2/include/ignition/rendering/ogre2/Ogre2Material.hh

ogre2/src/Ogre2ThermalCamera.cc

ogre2/src/media/materials/scripts/thermal.material

ogre2/src/Ogre2ThermalCamera.cc

ogre2/src/media/materials/scripts/thermal.material

test/integration/thermal_camera.cc

ogre2/src/Ogre2ThermalCamera.cc

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

…mera

iche033 · 2021-01-30T01:56:28Z

should fix ~~#189~~ #205

…mera

adlarkin · 2021-01-30T02:03:32Z

should fix #189

I think you meant this should fix #205, right?

iche033 · 2021-02-01T18:53:32Z

I think you meant this should fix #205, right?

oops, yes

iche033 · 2021-02-01T22:37:58Z

Everything looks good. Thanks to @chapulina's recent effort, we finally got rid of all windows warnings. Let's try to make windows build green. Can you address this warning on windows?
https://build.osrfoundation.org/job/ign_rendering-pr-win/1247/msbuild/NORMAL/

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

adlarkin · 2021-02-02T02:12:37Z

Can you address this warning on windows?

Warning has been addressed in 6f1c4be

started incorporating heat signature to thermal objects

c7fc0de

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

github-actions bot added the 🔮 dome Ignition Dome label Dec 22, 2020

iche033 reviewed Dec 22, 2020

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ogre2/src/Ogre2ThermalCamera.cc Outdated Show resolved Hide resolved

adlarkin added 5 commits January 6, 2021 13:07

promising results with hardcoded texture

62397a8

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

heat signature for one object is working

2bd317e

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

enable multiple objects with different heat signatures

06ea76e

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

allow for users to specify a custom temperature range

a369a6e

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

add check back in to fix missing background

df3024d

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

This was referenced Jan 13, 2021

add heat signature option to thermal system gazebosim/gz-sim#498

Merged

Updated thermal camera tutorial: include varying temperature objects gazebosim/gz-sensors#79

Merged

adlarkin requested review from iche033 and nkoenig January 14, 2021 00:45

adlarkin marked this pull request as ready for review January 14, 2021 00:45

adlarkin self-assigned this Jan 14, 2021

nkoenig reviewed Jan 25, 2021

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ogre2/src/Ogre2ThermalCamera.cc Outdated Show resolved Hide resolved

ogre2/src/Ogre2ThermalCamera.cc Outdated Show resolved Hide resolved

ogre2/src/media/materials/programs/heat_signature_fs.glsl Show resolved Hide resolved

iche033 and others added 6 commits January 25, 2021 19:22

Merge branch 'ign-rendering4' into adlarkin/heat_signature_thermal_ca…

5935aea

…mera

make sure user input temperature range is within [0,655.35] kelvin

d94e0dd

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

Merge branch 'ign-rendering4' into adlarkin/heat_signature_thermal_ca…

cc5df61

…mera

added heat signature thermal camera test

6b4bd9d

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

added missing test texture and fixed codecheck

f4ae55c

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

adlarkin commented Jan 27, 2021

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ogre2/include/ignition/rendering/ogre2/Ogre2Material.hh Outdated Show resolved Hide resolved

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ogre2/src/media/materials/scripts/thermal.material Outdated Show resolved Hide resolved

iche033 reviewed Jan 27, 2021

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ogre2/src/Ogre2ThermalCamera.cc Outdated Show resolved Hide resolved

adlarkin and others added 3 commits January 28, 2021 14:14

revert addition of Ogre2Material::PbsToUnlitDatablock helper function

8ad2b5d

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

address review feedback

f710f72

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

Merge branch 'ign-rendering4' into adlarkin/heat_signature_thermal_ca…

70672b2

…mera

Merge branch 'ign-rendering4' into adlarkin/heat_signature_thermal_ca…

2f324b4

…mera

Merge branch 'ign-rendering4' into adlarkin/heat_signature_thermal_ca…

80e5b81

…mera

chapulina mentioned this pull request Jan 30, 2021

Thermal Camera - Inconsistent Background Behavior #205

Closed

adlarkin requested a review from iche033 February 1, 2021 21:06

adlarkin linked an issue Feb 1, 2021 that may be closed by this pull request

Thermal Camera - Inconsistent Background Behavior #205

Closed

address windows warnings

6f1c4be

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

adlarkin mentioned this pull request Feb 2, 2021

Add thermal camera to Marble HD2 osrf/subt#773

Merged

iche033 approved these changes Feb 2, 2021

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iche033 merged commit d9d5374 into ign-rendering4 Feb 2, 2021

iche033 deleted the adlarkin/heat_signature_thermal_camera branch February 2, 2021 03:39

adlarkin mentioned this pull request Feb 2, 2021

4.3.0 #222

Merged

chapulina mentioned this pull request Feb 12, 2021

4 ➡️ 5 #246

Merged

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Thermal Camera: Visualize objects with a heat signature #189

Thermal Camera: Visualize objects with a heat signature #189

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Thermal Camera: Visualize objects with a heat signature #189

Thermal Camera: Visualize objects with a heat signature #189

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