Updated thermal camera tutorial: include varying temperature objects #79
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I'm converting this to a draft for now because the tutorial needs to be updated to reflect the recent additions to the thermal camera (mainly, the option for 8-bit format). I'll re-visit this soon. I believe that what's currently missing is material from the following PRs: |
tutorials/03_thermal_camera.md
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| @@ -94,7 +95,12 @@ This is currently unused by Ignition Gazebo. | |||
| Now that we have set up our thermal camera, we'll need to assign temperatures to models in the environment. | |||
| If a model doesn't have a temperature associated with it, then the thermal camera cannot detect it. | |||
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I'm not sure if this is a true statement any more since we now have gazebosim/gz-rendering#211
cc @iche033
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new behavior in Dome:
If a model doesn't have a temperature associated with it, then it will be assigned the ambient temperature. There will some variation in their temperature based on their color and the world's temperature gradient.
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Updated in fadf90b
The tutorial has been updated in 2c53bff to reflect the 8-bit functionality, so this should be ready for another round of review. One thing to note is that with my current setup (gazebo 4.5.0, rendering 4.5.0, gui 4.2.0, and sdformat 10.2.0 all installed as binary packages), running This can be resolved temporarily by downloading the SDF file and removing this line (thermal cameras use 16-bit format by default), but the proper workaround is to use |
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can you add a couple sentences showing how to set the ambient temperature and temperature gradient in sdf?
https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo4/examples/worlds/thermal_camera.sdf#L136
the <temperature_gradient> is used to give some variation to the temperature for objects without a uniform or heat signature set: gazebosim/gz-sim#578
tutorials/03_thermal_camera.md
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| @@ -94,7 +95,12 @@ This is currently unused by Ignition Gazebo. | |||
| Now that we have set up our thermal camera, we'll need to assign temperatures to models in the environment. | |||
| If a model doesn't have a temperature associated with it, then the thermal camera cannot detect it. | |||
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new behavior in Dome:
If a model doesn't have a temperature associated with it, then it will be assigned the ambient temperature. There will some variation in their temperature based on their color and the world's temperature gradient.
Addressed in fadf90b, and |
Signed-off-by: Ashton Larkin <ashton@openrobotics.org>
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I've updated the thermal camera tutorial to reflect the thermal camera updates for heat signatures (gazebosim/gz-rendering#189 and gazebosim/gz-sim#498). I also updated the tutorial to reflect 8-bit vs 16-bit functionality (#79 (comment)).
Signed-off-by: Ashton Larkin ashton@openrobotics.org