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Add thermal camera to Marble HD2#773

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nkoenig merged 8 commits intomasterfrom
adlarkin/add_thermal_camera
Feb 11, 2021
Merged

Add thermal camera to Marble HD2#773
nkoenig merged 8 commits intomasterfrom
adlarkin/add_thermal_camera

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@adlarkin adlarkin commented Feb 1, 2021 •
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This adds two new sensor configurations to MARBLE HD2:

  • sensor configuration 3: same as configuration 1, but with a thermal camera
  • sensor configuration 4: same as configuration 2, but with a thermal camera

Camera specifications were retrieved from:

Below shows the code to be added to these fuel model's model.sdf files, and where this camera would end up on the robot with this code snippet added in:

      <!-- thermal camera -->
      <visual name="thermal_camera_visual">
        <pose>0.435 -.01 0.125 0 0 0</pose>
        <geometry>
          <box>
            <size>0.02 0.025 0.025</size>
          </box>
        </geometry>
      </visual>
      <sensor name="thermal_camera" type="thermal">
        <pose>0.435 -.01 0.125 0 0 0</pose>
        <camera name="thermal_camera">
          <horizontal_fov>0.4922</horizontal_fov>
          <lens>
            <intrinsics>
              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
              <fx>764.35630</fx>
              <fy>764.35630</fy>
              <!-- cx = ( width + 1 ) / 2 -->
              <cx>192.5</cx>
              <!-- cy = ( height + 1 ) / 2 -->
              <cy>144.5</cy>
              <s>0</s>
            </intrinsics>
          </lens>
          <image>
            <width>384</width>
            <height>288</height>
          </image>
          <clip>
            <near>0.1</near>
            <far>100</far>
          </clip>
        </camera>
        <always_on>1</always_on>
        <update_rate>25</update_rate>
      </sensor>

camera_location_hd2

Signed-off-by: Ashton Larkin [email protected]

@adlarkin adlarkin requested a review from iche033 February 1, 2021 23:14
@adlarkin adlarkin marked this pull request as draft February 1, 2021 23:14
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osrf-jenkins commented Feb 1, 2021

Build finished. 21 tests run, 0 skipped, 1 failed.

@adlarkin adlarkin changed the title Add thermal camera to robot models Add thermal camera to marble_hd2_sensor_config_1 Feb 2, 2021
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osrf-jenkins commented Feb 2, 2021

Build finished. 21 tests run, 0 skipped, 1 failed.

@iche033
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iche033 commented Feb 2, 2021

It looks like the ignition side is missing the thermal camera's camera_info topic.

The info topic is published through this call:
https://github.com/ignitionrobotics/ign-sensors/blob/ign-sensors4/src/ThermalCameraSensor.cc#L217

so looks like something went wrong there. I'll look into it tomorrow

I see data coming through ign topic. Did you add IGN_TRANSPORT_TOPIC_STATISTICS=1 ?

After removing the /image suffix from $(arg sensor_prefix)/thermal_camera/image in vehicle_topics.launch, I see data coming through on ros side.

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osrf-jenkins commented Feb 3, 2021

Build finished. 21 tests run, 0 skipped, 1 failed.

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osrf-jenkins commented Feb 3, 2021

Build finished. 21 tests run, 0 skipped, 1 failed.

adlarkin
adlarkin commented Feb 3, 2021
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osrf-jenkins commented Feb 3, 2021

Build finished. 21 tests run, 0 skipped, 1 failed.

@adlarkin adlarkin mentioned this pull request Feb 3, 2021
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@adlarkin adlarkin marked this pull request as ready for review February 3, 2021 17:15
@adlarkin adlarkin requested a review from nkoenig February 3, 2021 17:15
@adlarkin adlarkin changed the title Add thermal camera to marble_hd2_sensor_config_1 Add thermal camera to Marble HD2 Feb 3, 2021
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osrf-jenkins commented Feb 3, 2021

Build finished. 21 tests run, 0 skipped, 1 failed.

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osrf-jenkins commented Feb 3, 2021

Build finished. 21 tests run, 0 skipped, 1 failed.

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adlarkin commented Feb 3, 2021

@iche033 I just tested both configs 3 and 4, they are working for me.

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iche033 approved these changes Feb 3, 2021
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works for me. I see thermal data in rviz for both config_3 and config_4

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nkoenig commented Feb 11, 2021

The Fuel models have been updated to use:

      <sensor name="thermal_camera" type="thermal">
        <pose>0.435 -.01 0.125 0 0 0</pose>
        <camera name="thermal_camera">
          <horizontal_fov>0.4922</horizontal_fov>
          <lens>
            <intrinsics>
              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
              <fx>764.35630</fx>
              <fy>764.35630</fy>
              <!-- cx = ( width + 1 ) / 2 -->
              <cx>192.5</cx>
              <!-- cy = ( height + 1 ) / 2 -->
              <cy>144.5</cy>
              <s>0</s>
            </intrinsics>
          </lens>
          <image>
            <width>384</width>
            <height>288</height>
            <format>L8</format>
          </image>
          <clip>
            <near>0.1</near>
            <far>100</far>
          </clip>
        </camera>
        <always_on>1</always_on>
        <update_rate>25</update_rate>
        <plugin
          filename="ignition-gazebo-thermal-sensor-system"
          name="ignition::gazebo::systems::ThermalSensor">
          <min_temp>253.15</min_temp>
          <max_temp>673.15</max_temp>
        </plugin>
      </sensor>

@iche033
New config with thermal camera: CERBERUS_M100_SENSOR_CONFIG_2 (#777)
28f094d 
* adding thermal camera to cerberus m100

Signed-off-by: Ian Chen <[email protected]>

* fix bridge

Signed-off-by: Ian Chen <[email protected]>

* update thermal camera spec

Signed-off-by: Ian Chen <[email protected]>

* new config_2

Signed-off-by: Ian Chen <[email protected]>

* remove config_2

Signed-off-by: Ian Chen <[email protected]>

* reuse config_1 files

Signed-off-by: Ian Chen <[email protected]>
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osrf-jenkins commented Feb 11, 2021

Build finished. 21 tests run, 0 skipped, 1 failed.

@nkoenig nkoenig merged commit 1399f00 into master Feb 11, 2021
@adlarkin adlarkin mentioned this pull request Feb 18, 2021
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peci1 commented Mar 15, 2021

The thermocam got lost from Fuel... #821.

@acschang acschang mentioned this pull request Apr 30, 2021
Merged
@nkoenig nkoenig deleted the adlarkin/add_thermal_camera branch September 27, 2021 17:32
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@adlarkin @osrf-jenkins @iche033 @nkoenig @peci1