New config with thermal camera: MARBLE_HUSKY_SENSOR_CONFIG_3 and MARBLE_HUSKY_SENSOR_CONFIG_4#779

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nkoenig merged 6 commits intomasterfrom

adlarkin/thermal_camera_marble_husky

Feb 11, 2021

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adlarkin commented Feb 3, 2021 •

edited

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The thermal camera used for this model is the same as the one in #773. The only difference between the thermal camera for this model and the one in #773 should be the the camera's location.

sensor config 3 = sensor config 1 + thermal camera, and sensor config 4 = sensor config 2 + thermal camera

Here is where I have placed the thermal camera (right above the lower LIDAR sensor):

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


          add thermal camera to marble husky

55fc3a7

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

adlarkin requested review from iche033 and nkoenig

February 3, 2021 17:15

osrf-jenkins commented Feb 3, 2021

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


          new marble husky config 3 with thermal camera

6a05b53

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

iche033 changed the title ~~Add thermal camera to marble husky~~ New config with thermal camera: MARBLE_HUSKY_SENSOR_CONFIG_3:

iche033 changed the title ~~New config with thermal camera: MARBLE_HUSKY_SENSOR_CONFIG_3:~~ New config with thermal camera: MARBLE_HUSKY_SENSOR_CONFIG_3

iche033 marked this pull request as draft

February 3, 2021 19:29

osrf-jenkins commented Feb 3, 2021

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

iche033 added 2 commits

February 3, 2021 11:58


          reuse config_1 files, add config_4

629004f

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


          add config_4 files

7ec7088

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

osrf-jenkins commented Feb 3, 2021

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

iche033 added 2 commits

February 3, 2021 12:42


          remove thermal camera from config_1

fe0a29b

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


          remove files

8db0685

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

iche033 changed the title ~~New config with thermal camera: MARBLE_HUSKY_SENSOR_CONFIG_3~~ New config with thermal camera: MARBLE_HUSKY_SENSOR_CONFIG_3 and MARBLE_HUSKY_SENSOR_CONFIG_4

iche033 marked this pull request as ready for review

February 3, 2021 20:53

osrf-jenkins commented Feb 3, 2021

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

Contributor Author

adlarkin commented Feb 3, 2021

@iche033 I believe we should add this code snippet to the fuel model's model.sdf files in order to have the thermal camera placement as pictured above:

      <!-- thermal camera -->
      <visual name="thermal_camera_visual">
        <pose >0.485 0 0.169 0 0 0</pose>
        <geometry>
          <box>
            <size>0.02 0.025 0.025</size>
          </box>
        </geometry>
      </visual>
      <sensor name="thermal_camera" type="thermal">
        <pose >0.485 0 0.169 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>

osrf-jenkins commented Feb 3, 2021

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

Contributor Author

adlarkin commented Feb 3, 2021

@iche033 I just tested configurations 3 and 4. Everything seems to be working for me! I can echo data from the topics, and I can visualize the thermal camera in rviz.

iche033 approved these changes

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iche033 left a comment

works for me as well

Contributor

nkoenig commented Feb 10, 2021

Here is the latest output image stream from the thermal camera:

Contributor

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>

nkoenig merged commit bfa6c2a into master

adlarkin mentioned this pull request

Publish ground truth robot position as dynamic TF #759

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peci1 mentioned this pull request

The big thermocam theft :-D #821

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Collaborator

peci1 commented Mar 15, 2021

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

acschang mentioned this pull request

Thermal Camera Consistency #910

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acschang mentioned this pull request

Model Submission for MARBLE Husky SC6 #920

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nkoenig deleted the adlarkin/thermal_camera_marble_husky branch

September 27, 2021 17:33

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