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hector_gazebo: hector_gazebo_plugins | hector_gazebo_thermal_camera | hector_gazebo_worlds
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Package Summary

Documented

hector_gazebo_thermal_camera provides a gazebo plugin that produces simulated thermal camera images. The plugin uses modified code from the gazebo_ros_camera plugin.

hector_gazebo: gazebo_rtt_plugin | hector_gazebo_plugins | hector_gazebo_thermal_camera | hector_gazebo_worlds
Package LinksDependencies (6)

Package Summary

Documented

hector_gazebo_thermal_camera provides a gazebo plugin that produces simulated thermal camera images. The plugin uses modified code from the gazebo_ros_camera plugin.

hector_gazebo: gazebo_rtt_plugin | hector_gazebo_plugins | hector_gazebo_thermal_camera | hector_gazebo_worlds
Package LinksDependencies (6)

Package Summary

Documented

hector_gazebo_thermal_camera provides a gazebo plugin that produces simulated thermal camera images. The plugin uses modified code from the gazebo_ros_camera plugin.

hector_gazebo: hector_gazebo_plugins | hector_gazebo_thermal_camera | hector_gazebo_worlds
Package LinksDependencies (9)
Used by (1)

Package Summary

Released
Documented

hector_gazebo_thermal_camera provides a gazebo plugin that produces simulated thermal camera images. The plugin uses modified code from the gazebo_ros_camera plugin.

hector_gazebo: hector_gazebo_plugins | hector_gazebo_thermal_camera | hector_gazebo_worlds
Package LinksDependencies (8)
Used by (1)

Package Summary

Released
Documented

hector_gazebo_thermal_camera provides a gazebo plugin that produces simulated thermal camera images. The plugin uses modified code from the gazebo_ros_camera plugin.

hector_gazebo: hector_gazebo_plugins | hector_gazebo_thermal_camera | hector_gazebo_worlds
Package LinksDependencies (8)
Used by (1)

Package Summary

Released
Documented

hector_gazebo_thermal_camera provides a gazebo plugin that produces simulated thermal camera images. The plugin uses modified code from the gazebo_ros_camera plugin.

hector_gazebo: hector_gazebo_plugins | hector_gazebo_thermal_camera | hector_gazebo_worlds
Package LinksDependencies (3)
Used by (1)

Package Summary

Released
Documented

hector_gazebo_thermal_camera provides a gazebo plugin that produces simulated thermal camera images. The plugin uses modified code from the gazebo_ros_camera plugin.

hector_gazebo: hector_gazebo_plugins | hector_gazebo_thermal_camera | hector_gazebo_worlds
Package LinksDependencies (3)
Used by (1)

Package Summary

Released
Documented

hector_gazebo_thermal_camera provides a gazebo plugin that produces simulated thermal camera images. The plugin uses modified code from the gazebo_ros_camera plugin.

hector_gazebo: hector_gazebo_plugins | hector_gazebo_thermal_camera | hector_gazebo_worlds
Package LinksDependencies (3)
Used by (1)
Jenkins jobs (6)

Package Summary

Released
Documented

hector_gazebo_thermal_camera provides a gazebo plugin that produces simulated thermal camera images. The plugin uses modified code from the gazebo_ros_camera plugin.

Package LinksDependencies (4)
Jenkins jobs (9)

Package Summary

Released
No API documentation

hector_gazebo_thermal_camera provides a gazebo plugin that produces simulated thermal camera images. The plugin uses modified code from the gazebo_ros_camera plugin.

  • Maintainer status: maintained
  • Maintainer: Stefan Fabian <fabian AT sim.tu-darmstadt DOT de>
  • Author: Stefan Kohlbrecher <kohlbrecher AT sim.tu-darmstadt DOT de>
  • License: BSD

Contents

  1. Overview
  2. Example Use

Overview

As thermal camera simulation isn't supported natively by gazebo, this plugin takes the following approach: Objects of interest (OOIs) that have to appear hot in thermal vision are modelled using COLLADA and have their emissive and ambient material properties set to maximum red like this: 

            <emission>
              <color sid="emission">1 0 0 1</color>
            </emission>
            <ambient>
              <color sid="ambient">1 0 0 1</color>
            </ambient>

The relevant OOI will then always have exactly red color, regardless of lighting conditions in gazebo. The gazebo_ros_thermal_camera plugin then colors only the portions of the MONO8 thermal image as white (for white hot) that have exactly this maximum red color. The rest of the visual image is written to the thermal image with much reduced intensity. The result looks like this: Thermal_Cam_example.png

Using this approach, methods for detection of objects by their heat signature can be tested in simulation. However, this might not be possible for methods fusing information from visual and thermal images, as the visuals of OOIs are limited to red color. Note that reconfiguration options for the color of interest and other convenience options are not currently implemented.

Example Use

The plugin is based on the gazebo_ros_camera plugin and thus has the same parameters and signature for use in a URDF model: 

  <gazebo reference="thermal_frame">
      <sensor:camera name="thermal_camera_sensor">
        <imageSize>160 120</imageSize>
        <imageFormat>R8G8B8</imageFormat>
        <hfov>90</hfov>
        <nearClip>0.01</nearClip>
        <farClip>100</farClip>
        <updateRate>10</updateRate>
        <controller:gazebo_ros_thermal_camera name="thermal_camera_controller" plugin="libgazebo_ros_thermal_depth_camera.so">
          <alwaysOn>true</alwaysOn>
          <updateRate>10</updateRate>
          <imageTopicName>/thermal_camera/image_raw</imageTopicName>
          <cameraInfoTopicName>/thermal_camera/camera_info</cameraInfoTopicName>
          <frameName>thermal_optical_frame</frameName>
          <interface:camera name="thermal_camera_iface" />
        </controller:gazebo_ros_thermal_camera>
      </sensor:camera>
    </gazebo>

2022-05-28 12:37