gz-sim
gz-sim copied to clipboard
Broken meshes for actors with the segmentation camera
Environment
- OS Version: Ubuntu 18.04
- Source or binary build?
Binary,
6.0.0~pre1
- If this is a GUI or sensor rendering bug, describe your GPU and rendering system. Otherwise delete this section.
- Rendering plugin: ogre2
- Generally, mention all circumstances that might affect rendering capabilities:
- running in Docker/Singularity
Description
- Expected behavior: When running the segmentation camera with actors, the actor should appear uniform
- Actual behavior: Some of the actor's body parts are detached/floating: https://github.com/ignitionrobotics/ign-gazebo/pull/853#issuecomment-922090868
Steps to reproduce
- Add a segmentation camera and label to the
demo_actor
inexamples/worlds/actor.sdf
:
actor.sdf diff
diff --git a/examples/worlds/actor.sdf b/examples/worlds/actor.sdf
index 346c511b..9ad0322a 100644
--- a/examples/worlds/actor.sdf
+++ b/examples/worlds/actor.sdf
@@ -151,6 +151,9 @@
<!-- override actor's pose, which has 1m in Z -->
<pose>0 0 0 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor</uri>
+ <plugin filename="ignition-gazebo-label-system" name="ignition::gazebo::systems::Label">
+ <label>40</label>
+ </plugin>
</include>
<actor name="actor_talking">
@@ -248,5 +251,56 @@
</link>
</model>
+ <!-- Semantic Segmentation Camera Sensor -->
+ <model name="semantic_camera">
+ <pose>-2.5 0 2.0 0 0.0 0</pose>
+ <link name="link">
+ <pose>0 0 0 0 0 0</pose>
+ <inertial>
+ <mass>0.5</mass>
+ <inertia>
+ <ixx>0.000166667</ixx>
+ <iyy>0.000166667</iyy>
+ <izz>0.000166667</izz>
+ </inertia>
+ </inertial>
+ <collision name="collision">
+ <geometry>
+ <box>
+ <size>0.1 0.1 0.1</size>
+ </box>
+ </geometry>
+ </collision>
+ <visual name="visual">
+ <geometry>
+ <box>
+ <size>0.1 0.1 0.1</size>
+ </box>
+ </geometry>
+ </visual>
+ <sensor name="semantic_segmentation_camera" type="segmentation">
+ <topic>semantic</topic>
+ <camera>
+ <segmentation_type>semantic</segmentation_type>
+ <horizontal_fov>1.57</horizontal_fov>
+ <image>
+ <width>800</width>
+ <height>600</height>
+ </image>
+ <clip>
+ <near>0.1</near>
+ <far>100</far>
+ </clip>
+ </camera>
+ <always_on>1</always_on>
+ <update_rate>30</update_rate>
+ <visualize>true</visualize>
+ </sensor>
+ </link>
+ </model>
+
</world>
</sdf>
- Run the
actor.sdf
world:ign gazebo actor.sdf
- Add an image display to the GUI and then set the topic of the image display to
/semantic/colored_map
- Start simulation and observe the incorrect segmentation output
Output
See https://github.com/ignitionrobotics/ign-gazebo/pull/853#issuecomment-922090868
I have just encountered this problem. Here is an image of the coloured_map.
Is there any progress in solving it?
Hi @vavisc , no one is currently working on it, and we appreciate pull requests. Thanks!
I encountered the same problem when using a gpu_lidar sensor. The point cloud visualization in rviz also shows a broken mesh.
this issue may be fixed in garden (gz-rendering7). I tested adding a segmentation camera to the actors world and I don't see the broken meshes.