This paper presents an approach for non-contact haptic augmentation with spatial augmented reality (SAR). We construct a thermo-visual projection system by combining a standard RGB projector and a fabricated infrared (IR) projector. The primary contribution of this paper is that we conduct thorough psychophysical experiments to investigate a design guideline for spatiotemporal projection patterns for both RGB and IR projectors to render a warm object with high presence. We develop application systems to evaluate the validity of the proposed system and design guideline. The evaluation results demonstrate that the proposed system can render warm objects with significantly higher presence than a standard SAR system.