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Add scatter ratio parameter to Particle Emitter DOM #547

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merged 4 commits into from
May 6, 2021
Merged

Add scatter ratio parameter to Particle Emitter DOM #547

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81381f0
add particle scatter ratio?
iche033 Apr 26, 2021
2256147
update field name
iche033 Apr 26, 2021
b89e8b3
update doc
iche033 May 5, 2021
67defd7
Merge branch 'sdf10' into particle_scatter_ratio
iche033 May 5, 2021
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11 changes: 11 additions & 0 deletions include/sdf/ParticleEmitter.hh
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Expand Up @@ -276,6 +276,17 @@ namespace sdf
/// \param[in] _topic The topic used to update the particle emitter.
public: void SetTopic(const std::string &_topic);

/// \brief Get the particle scatter ratio. This is used to determine the
/// ratio of particles that will be detected by sensors.
/// \return Particle scatter ratio
/// \sa SetScatterRatio
public: float ScatterRatio() const;

/// \brief Set the particle scatter ratio. This is used to determine the
/// ratio of particles that will be detected by sensors.
/// \param[in] _ratio Scatter raito. This value should be > 0.
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public: void SetScatterRatio(float _ratio);

/// \brief Get the pose of the particle emitter. This is the pose of the
/// emitter as specified in SDF
/// (<particle_emitter><pose> ... </pose></particle_emitter>).
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10 changes: 10 additions & 0 deletions sdf/1.7/particle_emitter.sdf
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Expand Up @@ -104,6 +104,16 @@
</description>
</element>

<element name="particle_scatter_ratio" type="float" default="0.65" required="0">
<description>
This is used to determine the ratio of particles that will be detected
by sensors. Increasing the ratio means there is a higher chance of
particles reflecting and interfering with depth sensing, making the
emitter appear more dense. Decreasing the ratio decreases making it
appear less dense. This value should be > 0.
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</description>
</element>

<include filename="pose.sdf" required="0"/>
<include filename="material.sdf" required="0"/>
</element>
23 changes: 23 additions & 0 deletions src/ParticleEmitter.cc
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Expand Up @@ -96,6 +96,13 @@ class sdf::ParticleEmitterPrivate
/// \brief Topic used to update particle emitter properties at runtime.
public: std::string topic = "";

/// \brief Particle scatter ratio. This is used to determine the ratio of
/// particles that will be detected by sensors. Increasing the ratio
/// means there is a higher chance of particles reflecting and interfering
/// with depth sensing, making the emitter appear more dense. Decreasing the
/// ratio decreases making it appear less dense. This value should be > 0.
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public: float scatterRatio = 0.65f;

/// \brief Pose of the emitter
public: ignition::math::Pose3d pose = ignition::math::Pose3d::Zero;

Expand Down Expand Up @@ -136,6 +143,7 @@ ParticleEmitterPrivate::ParticleEmitterPrivate(
colorEnd(_private.colorEnd),
colorRangeImage(_private.colorRangeImage),
topic(_private.topic),
scatterRatio(_private.scatterRatio),
pose(_private.pose),
poseRelativeTo(_private.poseRelativeTo),
xmlParentName(_private.xmlParentName),
Expand Down Expand Up @@ -272,6 +280,9 @@ Errors ParticleEmitter::Load(ElementPtr _sdf)
this->dataPtr->topic = _sdf->Get<std::string>(
"topic", this->dataPtr->topic).first;

this->dataPtr->scatterRatio = _sdf->Get<float>(
"particle_scatter_ratio", this->dataPtr->scatterRatio).first;

if (_sdf->HasElement("material"))
{
this->dataPtr->material.reset(new sdf::Material());
Expand Down Expand Up @@ -487,6 +498,18 @@ void ParticleEmitter::SetTopic(const std::string &_topic)
this->dataPtr->topic = _topic;
}

/////////////////////////////////////////////////
void ParticleEmitter::SetScatterRatio(float _ratio)
{
this->dataPtr->scatterRatio = _ratio;
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@adlarkin adlarkin May 5, 2021 •
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Suggested change
this->dataPtr->scatterRatio = _ratio;
if (_ratio <= 0.0f)
{
ignwarn << "Scatter ratio must be > 0, but a value of " << _ratio << " was given. Using a value of " << this->dataPtr->scatterRatio << " instead" << std::endl;
return;
}
this->dataPtr->scatterRatio = _ratio;

Since the scatter ratio must be > 0, should we only set it if the value passed in is > 0? If so, we should also update the documentation to indicate this in ParticleEmitter.hh.

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after thinking about it more, I removed the requirement on the value needs to be > 0. It's more of an implementation limitation on the ignition end. Since we should keep the spec as general as possible, I think someone could decide to use 0 to simulate 0 scattering for certain sensors.

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That's a good point. Everything looks good to me, so feel free to merge unless you're waiting for someone else to look over this as well 👍

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alright, will merge after CI builds are done

}

/////////////////////////////////////////////////
float ParticleEmitter::ScatterRatio() const
{
return this->dataPtr->scatterRatio;
}

/////////////////////////////////////////////////
const ignition::math::Pose3d &ParticleEmitter::RawPose() const
{
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4 changes: 4 additions & 0 deletions src/ParticleEmitter_TEST.cc
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Expand Up @@ -104,6 +104,10 @@ TEST(DOMParticleEmitter, Construction)
emitter.SetTopic("/test/topic");
EXPECT_EQ("/test/topic", emitter.Topic());

EXPECT_FLOAT_EQ(0.65f, emitter.ScatterRatio());
emitter.SetScatterRatio(0.5f);
EXPECT_FLOAT_EQ(0.5f, emitter.ScatterRatio());

EXPECT_EQ(ignition::math::Pose3d::Zero, emitter.RawPose());
emitter.SetRawPose(ignition::math::Pose3d(1, 2, 3, 0, 0, 1.5707));
EXPECT_EQ(ignition::math::Pose3d(1, 2, 3, 0, 0, 1.5707), emitter.RawPose());
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1 change: 1 addition & 0 deletions test/integration/particle_emitter_dom.cc
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Expand Up @@ -78,6 +78,7 @@ TEST(DOMWorld, LoadParticleEmitter)
EXPECT_DOUBLE_EQ(0.2, linkEmitter->MaxVelocity());
EXPECT_DOUBLE_EQ(0.5, linkEmitter->ScaleRate());
EXPECT_DOUBLE_EQ(5, linkEmitter->Rate());
EXPECT_FLOAT_EQ(0.2f, linkEmitter->ScatterRatio());

sdf::Material *mat = linkEmitter->Material();
ASSERT_NE(nullptr, mat);
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1 change: 1 addition & 0 deletions test/sdf/world_complete.sdf
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Expand Up @@ -90,6 +90,7 @@
</pbr>
</material>
<color_range_image>materials/textures/fogcolors.png</color_range_image>
<particle_scatter_ratio>0.2</particle_scatter_ratio>
</particle_emitter>

<light name="spot_light" type="spot">
Expand Down