import numpy import cv2 import time import sys import os import random from airsim import * def radiance(absoluteTemperature, emissivity, dx=0.01, response=None): """ title:: radiance description:: Calculates radiance and integrated radiance over a bandpass of 8 to 14 microns, given temperature and emissivity, using Planck's Law. inputs:: absoluteTemperature temperture of object in [K] either a single temperature or a numpy array of temperatures, of shape (temperatures.shape[0], 1) emissivity average emissivity (number between 0 and 1 representing the efficiency with which it emits radiation; if 1, it is an ideal blackbody) of object over the bandpass either a single emissivity or a numpy array of emissivities, of shape (emissivities.shape[0], 1) dx discrete spacing between the wavelengths for evaluation of radiance and integration [default is 0.1] response optional response of the camera over the bandpass of 8 to 14 microns [default is None, for no response provided] returns:: radiance discrete spectrum of radiance over bandpass integratedRadiance integration of radiance spectrum over bandpass (to simulate the readout from a sensor) author:: Elizabeth Bondi """ wavelength = numpy.arange(8,14,dx) c1 = 1.19104e8 # (2 * 6.62607*10^-34 [Js] * # (2.99792458 * 10^14 [micron/s])^2 * 10^12 to convert # denominator from microns^3 to microns * m^2) c2 = 1.43879e4 # (hc/k) [micron * K] if response is not None: radiance = response * emissivity * (c1 / ((wavelength**5) * \ (numpy.exp(c2 / (wavelength * absoluteTemperature )) - 1))) else: radiance = emissivity * (c1 / ((wavelength**5) * (numpy.exp(c2 / \ (wavelength * absoluteTemperature )) - 1))) if absoluteTemperature.ndim > 1: return radiance, numpy.trapz(radiance, dx=dx, axis=1) else: return radiance, numpy.trapz(radiance, dx=dx) def get_new_temp_emiss_from_radiance(tempEmissivity, response): """ title:: get_new_temp_emiss_from_radiance description:: Transform tempEmissivity from [objectName, temperature, emissivity] to [objectName, "radiance"] using radiance calculation above. input:: tempEmissivity numpy array containing the temperature and emissivity of each object (e.g., each row has: [objectName, temperature, emissivity]) response camera response (same input as radiance, set to None if lacking this information) returns:: tempEmissivityNew tempEmissivity, now with [objectName, "radiance"]; note that integrated radiance (L) is divided by the maximum and multiplied by 255 in order to simulate an 8 bit digital count observed by the thermal sensor, since radiance and digital count are linearly related, so it's [objectName, simulated thermal digital count] author:: Elizabeth Bondi """ numObjects = tempEmissivity.shape[0] L = radiance(tempEmissivity[:,1].reshape((-1,1)).astype(numpy.float64), tempEmissivity[:,2].reshape((-1,1)).astype(numpy.float64), response=response)[1].flatten() L = ((L / L.max()) * 255).astype(numpy.uint8) tempEmissivityNew = numpy.hstack(( tempEmissivity[:,0].reshape((numObjects,1)), L.reshape((numObjects,1)))) return tempEmissivityNew def set_segmentation_ids(segIdDict, tempEmissivityNew, client): """ title:: set_segmentation_ids description:: Set stencil IDs in environment so that stencil IDs correspond to simulated thermal digital counts (e.g., if elephant has a simulated digital count of 219, set stencil ID to 219). input:: segIdDict dictionary mapping environment object names to the object names in the first column of tempEmissivityNew tempEmissivityNew numpy array containing object names and corresponding simulated thermal digital count client connection to AirSim (e.g., client = MultirotorClient() for UAV) author:: Elizabeth Bondi """ #First set everything to 0. success = client.simSetSegmentationObjectID("[\w]*", 0, True); if not success: print('There was a problem setting all segmentation object IDs to 0. ') sys.exit(1) #Next set all objects of interest provided to corresponding object IDs #segIdDict values MUST match tempEmissivityNew labels. for key in segIdDict: objectID = int(tempEmissivityNew[numpy.where(tempEmissivityNew == \ segIdDict[key])[0],1][0]) success = client.simSetSegmentationObjectID("[\w]*"+key+"[\w]*", objectID, True); if not success: print('There was a problem setting {0} segmentation object ID to {1!s}, or no {0} was found.'.format(key, objectID)) time.sleep(0.1) if __name__ == '__main__': #Connect to AirSim, UAV mode. client = MultirotorClient() client.confirmConnection() #Multiple same object settings cubeList = client.simListSceneObjects('.*?Cube.*?') cubeDict = {} for x in cubeList: cubeDict[x] = 'tree' segIdDict = { 'Floor':'soil', } segIdDict.update(cubeDict) #Choose temperature values for winter or summer. #""" #winter tempEmissivity = numpy.array([['elephant',290,0.96], ['zebra',298,0.98], ['rhinoceros',291,0.96], ['hippopotamus',290,0.96], ['crocodile',295,0.96], ['human',292,0.985], ['tree',273,0.952], ['grass',273,0.958], ['soil',278,0.914], ['shrub',300,0.3], ['truck',273,0.8], ['water',273,0.96]]) #""" """ #summer tempEmissivity = numpy.array([['elephant',298,0.96], ['zebra',307,0.98], ['rhinoceros',299,0.96], ['hippopotamus',298,0.96], ['crocodile',303,0.96], ['human',301,0.985], ['tree',293,0.952], ['grass',293,0.958], ['soil',288,0.914], ['shrub',293,0.986], ['truck',293,0.8], ['water',293,0.96]]) """ #Read camera response. response = None camResponseFile = 'camera_response.npy' try: numpy.load(camResponseFile) except: print("{} not found. Using default response.".format(camResponseFile)) #Calculate radiance. tempEmissivityNew = get_new_temp_emiss_from_radiance(tempEmissivity, response) #Set IDs in AirSim environment. set_segmentation_ids(segIdDict, tempEmissivityNew, client)