The semantic segmentation image has lots of black points/pixels

[JinRanYAO]

Hello, I save the semantic segmentation image to the disk. but the image has lots of black points/pixels, for example: Could you tell me how to fix it?

It is the code that I save the semantic segmentation image to the disk:

blueprint_library = client.get_world().get_blueprint_library()
camera_bp = blueprint_library.find('sensor.camera.semantic_segmentation')
camera_transform = carla.Transform(carla.Location(x=1.5, z=2.4))
camera = client.get_world().spawn_actor(camera_bp, camera_transform, attach_to=world.player)

cc = carla.ColorConverter.CityScapesPalette
camera.listen(lambda image: image.save_to_disk('segmentation_image/%06d.png' % image.frame, cc))

Look forward to your reply!

[qhaas]

Possibly related to Issue #3865 , especially with newer GPUs

1. Which version of CARLA?
2. Do artifacts appear in the same place with an RGB camera image?
3. Did you try a different renderer?

[JinRanYAO]

Possibly related to Issue #3865 , especially with newer GPUs

1. Which version of CARLA?

2. Do artifacts appear in the same place with an RGB camera image?

3. Did you try a [different renderer](https://carla.readthedocs.io/en/0.9.11/adv_rendering_options/#vulkan-vs-opengl)?

Hello, thank you for your reply. It's indeed very similar to Issue #3865 , And I use a new GPU RTX 3090.

1. I use CARLA 0.9.11, UnrealEngine 4.24.
2. It happens with a raw RGB camera image too, but it looks like there are fewer black artifacts.
3. I try rendering and no rendering, it happens both the settings, So is it a bug with RTX 3090? Could I fix it now and how could I fix it? Look forward to your reply!

[qhaas]

All my GPUs are too old for this issue to manifest, so I can't say for certain! But, if they think it is an UnrealEngine glitch and not a CARLA glitch, you might want to ask over at the unrealengine answershub or attempt to compile from source using the unofficial CARLA 0.9.11 patch that makes it work with UE 4.25.x (unclear if updating to UE 4.25.x is enough since the bug report only reports a fix in UE 4.26.x).

[JinRanYAO]

All my GPUs are too old for this issue to manifest, so I can't say for certain! But, if they think it is an UnrealEngine glitch and not a CARLA glitch, you might want to ask over at the unrealengine answershub or attempt to compile from source using the unofficial CARLA 0.9.11 patch that makes it work with UE 4.25.x (unclear if updating to UE 4.25.x is enough since the bug report only reports a fix in UE 4.26.x).

OK, I will try it, thank you for your suggestion!

[lookingworld]

You can try adding '-opengl' to the startup command

[JinRanYAO]

You can try adding '-opengl' to the startup command

Thank you for your reply, I will try it!

[qhaas]

You can try adding '-opengl' to the startup command

That has its own issues in certain weather conditions, see Issue #3377

[DSantosO]

Hello @JinRanYAO, Sorry for the late response. I have not been able to reproduce this. Can you test it in the new 0.9.12 to check if it is still happening?

[qhaas]

@DSantosO , I'm seeing the following artifacts with a standard RBG camera in CARLA 0.9.12 running headless vulkan, possibly related, investigating the possibility it is an artifact of running on an A100 GPU (driver 460.91.03) + Ubuntu 20.04, will test later with a Tesla V100 GPU. A100 Screenshot:

UPDATE: This does not occur on a GeForce GTX TITAN Black with nvidia driver 470.57.02; suspect either a driver bug with 460.91.03 or some kind of weird A100 specific issue (can't narrow it down further because I don't have root / sudo on the A100 system to upgrade the driver).

UPDATE2: This does not occur on a Tesla V100 with nvidia driver 460.91.03 + Ubuntu 20.04, something about Ampere? V100 Screenshot:

UPDATE3: This could be a hardware issue, when I use the -graphicsadapter=X flag to force CARLA to render on each of the 8 A100 GPUs in the DGX A100, only 3/8 display the artifacts

[stale[bot]]

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

[lookingworld]

您好     您的邮件我已收到，感谢！祝好

[ll7]

I have similar problems with Carla0.9.10.1 in Ubuntu 20.04 and a RTX3060TI (Driver Version: 510.47.03)

Launching the Server with -opengl seems to solve this problem:

Carla0.9.13 does not have these issues as well:

[lookingworld]

您好     您的邮件我已收到，感谢！祝好

[stale[bot]]

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

[lookingworld]

您好     您的邮件我已收到，感谢！祝好

[swsamleo]

I have a similar issue with A100 +Ubuntu 20.04 I used the Carla 0.9.13

[lookingworld]

您好     您的邮件我已收到，感谢！祝好

[stale[bot]]

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

[lookingworld]

您好     您的邮件我已收到，感谢！祝好

[airobotis]

I have a similar issue with A100 and Ubuntu 20.04. I used the Carla 0.9.11

[lookingworld]

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[buaazeus]

same issue GPU:A100 carla:0.9.10 Vulkan. When use opengl, no artifacts.

[lookingworld]

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[cuijiaxun]

Same Issue GPU: A100 Carla: 0.9.14

Any conclusive solutions yet?

[lookingworld]

您好     您的邮件我已收到，感谢！祝好