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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) |