Add scatter ratio parameter to Particle Emitter DOM (#547)

* add particle scatter ratio? Signed-off-by: Ian Chen <[email protected]> * update field name Signed-off-by: Ian Chen <[email protected]> * update doc Signed-off-by: Ian Chen <[email protected]>
gazebosim · May 6, 2021 · 12e6897 · 12e6897
1 parent 1b49119
commit 12e6897
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diff --git a/include/sdf/ParticleEmitter.hh b/include/sdf/ParticleEmitter.hh
@@ -276,6 +276,17 @@ namespace sdf
  /// \param[in] _topic The topic used to update the particle emitter.
  public: void SetTopic(const std::string &_topic);
 
+ /// \brief Get the particle scatter ratio. This is used to determine the
+ /// ratio of particles that will be detected by sensors.
+ /// \return Particle scatter ratio
+ /// \sa SetScatterRatio
+ public: float ScatterRatio() const;
+
+ /// \brief Set the particle scatter ratio. This is used to determine the
+ /// ratio of particles that will be detected by sensors.
+ /// \param[in] _ratio Scatter ratio.
+ public: void SetScatterRatio(float _ratio);
+
  /// \brief Get the pose of the particle emitter. This is the pose of the
  /// emitter as specified in SDF
  /// (<particle_emitter><pose> ... </pose></particle_emitter>).

diff --git a/sdf/1.7/particle_emitter.sdf b/sdf/1.7/particle_emitter.sdf
@@ -104,6 +104,17 @@
  </description>
  </element>
 
+ <element name="particle_scatter_ratio" type="float" default="0.65" required="0">
+ <description>
+ This is used to determine the ratio of particles that will be detected
+ by sensors. Increasing the ratio means there is a higher chance of
+ particles reflecting and interfering with depth sensing, making the
+ emitter appear more dense. Decreasing the ratio decreases the chance
+ of particles reflecting and interfering with depth sensing, making it
+ appear less dense.
+ </description>
+ </element>
+
  <include filename="pose.sdf" required="0"/>
  <include filename="material.sdf" required="0"/>
 </element>
diff --git a/src/ParticleEmitter.cc b/src/ParticleEmitter.cc
@@ -96,6 +96,14 @@ class sdf::ParticleEmitterPrivate
  /// \brief Topic used to update particle emitter properties at runtime.
  public: std::string topic = "";
 
+ /// \brief Particle scatter ratio. This is used to determine the ratio of
+ /// particles that will be detected by sensors. Increasing the ratio
+ /// means there is a higher chance of particles reflecting and interfering
+ /// with depth sensing, making the emitter appear more dense. Decreasing
+ /// the ratio decreases the chance of particles reflecting and interfering
+ /// with depth sensing, making it appear less dense.
+ public: float scatterRatio = 0.65f;
+
  /// \brief Pose of the emitter
  public: ignition::math::Pose3d pose = ignition::math::Pose3d::Zero;
 
@@ -136,6 +144,7 @@ ParticleEmitterPrivate::ParticleEmitterPrivate(
  colorEnd(_private.colorEnd),
  colorRangeImage(_private.colorRangeImage),
  topic(_private.topic),
+ scatterRatio(_private.scatterRatio),
  pose(_private.pose),
  poseRelativeTo(_private.poseRelativeTo),
  xmlParentName(_private.xmlParentName),
@@ -272,6 +281,9 @@ Errors ParticleEmitter::Load(ElementPtr _sdf)
  this->dataPtr->topic = _sdf->Get<std::string>(
  "topic", this->dataPtr->topic).first;
 
+ this->dataPtr->scatterRatio = _sdf->Get<float>(
+ "particle_scatter_ratio", this->dataPtr->scatterRatio).first;
+
  if (_sdf->HasElement("material"))
  {
  this->dataPtr->material.reset(new sdf::Material());
@@ -487,6 +499,18 @@ void ParticleEmitter::SetTopic(const std::string &_topic)
  this->dataPtr->topic = _topic;
 }
 
+/////////////////////////////////////////////////
+void ParticleEmitter::SetScatterRatio(float _ratio)
+{
+ this->dataPtr->scatterRatio = _ratio;
+}
+
+/////////////////////////////////////////////////
+float ParticleEmitter::ScatterRatio() const
+{
+ return this->dataPtr->scatterRatio;
+}
+
 /////////////////////////////////////////////////
 const ignition::math::Pose3d &ParticleEmitter::RawPose() const
 {

diff --git a/src/ParticleEmitter_TEST.cc b/src/ParticleEmitter_TEST.cc
@@ -104,6 +104,10 @@ TEST(DOMParticleEmitter, Construction)
  emitter.SetTopic("/test/topic");
  EXPECT_EQ("/test/topic", emitter.Topic());
 
+ EXPECT_FLOAT_EQ(0.65f, emitter.ScatterRatio());
+ emitter.SetScatterRatio(0.5f);
+ EXPECT_FLOAT_EQ(0.5f, emitter.ScatterRatio());
+
  EXPECT_EQ(ignition::math::Pose3d::Zero, emitter.RawPose());
  emitter.SetRawPose(ignition::math::Pose3d(1, 2, 3, 0, 0, 1.5707));
  EXPECT_EQ(ignition::math::Pose3d(1, 2, 3, 0, 0, 1.5707), emitter.RawPose());

diff --git a/test/integration/particle_emitter_dom.cc b/test/integration/particle_emitter_dom.cc
@@ -78,6 +78,7 @@ TEST(DOMWorld, LoadParticleEmitter)
  EXPECT_DOUBLE_EQ(0.2, linkEmitter->MaxVelocity());
  EXPECT_DOUBLE_EQ(0.5, linkEmitter->ScaleRate());
  EXPECT_DOUBLE_EQ(5, linkEmitter->Rate());
+ EXPECT_FLOAT_EQ(0.2f, linkEmitter->ScatterRatio());
 
  sdf::Material *mat = linkEmitter->Material();
  ASSERT_NE(nullptr, mat);

diff --git a/test/sdf/world_complete.sdf b/test/sdf/world_complete.sdf
@@ -90,6 +90,7 @@
  </pbr>
  </material>
  <color_range_image>materials/textures/fogcolors.png</color_range_image>
+ <particle_scatter_ratio>0.2</particle_scatter_ratio>
  </particle_emitter>
 
  <light name="spot_light" type="spot">