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Make particle emitter invisible in thermal camera image #240
Conversation
Signed-off-by: Ian Chen <ichen@osrfoundation.org>
Signed-off-by: Ian Chen <ichen@osrfoundation.org>
Signed-off-by: Ian Chen <ichen@osrfoundation.org>
Signed-off-by: Ian Chen <ichen@osrfoundation.org>
Signed-off-by: Ian Chen <ichen@osrfoundation.org>
Codecov Report
@@ Coverage Diff @@
## ign-rendering4 #240 +/- ##
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+ Coverage 52.88% 52.92% +0.03%
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Files 143 143
Lines 13563 13566 +3
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+ Hits 7173 7180 +7
+ Misses 6390 6386 -4
Continue to review full report at Codecov.
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Signed-off-by: Ashton Larkin <ashton@openrobotics.org>
Signed-off-by: Ian Chen <ichen@osrfoundation.org>
Signed-off-by: Ian Chen <ichen@osrfoundation.org>
…endering into thermal_particles
…endering into thermal_particles
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Changes look good. Is there an example world you used to test this, and are any other PRs required to test these changes? I'd like to run a local test as a sanity check before approving.
here's the world sdf file I used for testing: https://gist.githubusercontent.com/iche033/2be422b8c527461b1a9cf9788ccf3967/raw/7f2c36757a28c5cda43442016732dd058df6310e/thermal_particles.sdf |
I'm seeing some weird rendering effects - it looks like the shape of the particles are always rendered relative to the way I view it in the GUI (animation attached below - notice how the box seems to rotate with the GUI display). I don't think this is related to this PR, but do you see something like this as well? Or is this expected behavior? |
yes that's the expected behavior. Particles are rendered as 2D sprites / billboards in ogre (and also commonly done in other render engines, e.g. threejs example). They always face the camera and are always upright. |
Summary
Achieved by setting visibility mask and flags. The thermal camera now has a visibility mask that does not match with the visibility flags of the particle emitter.
Example output in ign-gazebo. Left: RGBD camera that sees the particles. Right: Thermal camera that only sees Rescue Randy but not the particles emitted by the particle emitter.
Checklist
codecheck
passed (Seecontributing)
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