Skip to content

fix(thermal_camera): Fixed Gaussian noise for thermal camera. (backport #597) #599

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
iche033 merged 1 commit into from
Mar 18, 2026
Merged

fix(thermal_camera): Fixed Gaussian noise for thermal camera. (backport #597) #599

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
19 changes: 14 additions & 5 deletions src/ThermalCameraSensor.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,7 @@

#include "gz/sensors/ThermalCameraSensor.hh"
#include "gz/sensors/ImageGaussianNoiseModel.hh"
#include "gz/sensors/ImageNoise.hh"
#include "gz/sensors/RenderingEvents.hh"
#include "gz/sensors/SensorFactory.hh"

Expand Down Expand Up @@ -319,12 +320,20 @@ bool ThermalCameraSensor::CreateCamera()
// Add gaussian noise to camera sensor
if (noiseSdf.Type() == sdf::NoiseType::GAUSSIAN)
{
this->dataPtr->noises[noiseType] =
NoiseFactory::NewNoiseModel(noiseSdf, "camera");
// Skip applying noise if mean and stddev are 0 - this avoids
// doing an extra render pass in gz-rendering
// Note ImageGaussianNoiseModel only uses mean and stddev and does not
// use bias parameters.
if (!math::equal(noiseSdf.Mean(), 0.0) ||
!math::equal(noiseSdf.StdDev(), 0.0))
{
this->dataPtr->noises[noiseType] =
ImageNoiseFactory::NewNoiseModel(noiseSdf, "thermal_camera");

std::dynamic_pointer_cast<ImageGaussianNoiseModel>(
this->dataPtr->noises[noiseType])->SetCamera(
this->dataPtr->thermalCamera);
std::dynamic_pointer_cast<ImageGaussianNoiseModel>(
this->dataPtr->noises[noiseType])->SetCamera(
this->dataPtr->thermalCamera);
}
}
else if (noiseSdf.Type() != sdf::NoiseType::NONE)
{
Expand Down
12 changes: 12 additions & 0 deletions test/integration/thermal_camera.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -132,6 +132,12 @@ void ThermalCameraSensorTest::ImagesWithBuiltinSDF(
auto imagePtr = cameraPtr->GetElement("image");
ASSERT_TRUE(cameraPtr->HasElement("clip"));
auto clipPtr = cameraPtr->GetElement("clip");
ASSERT_TRUE(cameraPtr->HasElement("noise"));
auto noisePtr = cameraPtr->GetElement("noise");

EXPECT_EQ("gaussian", noisePtr->Get<std::string>("type"));
EXPECT_FLOAT_EQ(0.0, noisePtr->Get<double>("mean"));
EXPECT_DOUBLE_EQ(0.007, noisePtr->Get<double>("stddev"));

int imgWidth = imagePtr->Get<int>("width");
int imgHeight = imagePtr->Get<int>("height");
Expand Down Expand Up @@ -392,6 +398,12 @@ void ThermalCameraSensorTest::Images8BitWithBuiltinSDF(
auto cameraPtr = sensorPtr->GetElement("camera");
ASSERT_TRUE(cameraPtr->HasElement("image"));
auto imagePtr = cameraPtr->GetElement("image");
ASSERT_TRUE(cameraPtr->HasElement("noise"));
auto noisePtr = cameraPtr->GetElement("noise");

EXPECT_EQ("gaussian", noisePtr->Get<std::string>("type"));
EXPECT_FLOAT_EQ(0.0, noisePtr->Get<double>("mean"));
EXPECT_DOUBLE_EQ(0.007, noisePtr->Get<double>("stddev"));

std::string format = imagePtr->Get<std::string>("format");
EXPECT_EQ("L8", format);
Expand Down
5 changes: 5 additions & 0 deletions test/sdf/thermal_camera_sensor_8bit_builtin.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,11 @@
<near>0.1</near>
<far>10.0</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
</sensor>
</link>
Expand Down
5 changes: 5 additions & 0 deletions test/sdf/thermal_camera_sensor_builtin.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,11 @@
<near>0.1</near>
<far>10.0</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
</sensor>
</link>
Expand Down
Loading