Asset near the camera disappears.

[PARKBONG]

Hi,

The asset near the camera disappears. It happens not only HMD viewport, but also IsaacSim's native viewport. Do you know the cause or solution?

https://user-images.githubusercontent.com/39259734/196816686-ed5a02dd-7faf-4dd0-bc01-76c530f41cb4.mp4

Thanks.

[Toni-SM]

Hi @PARKBONG

This is a known issue in Isaac Sim... I tried the solution in this topic (https://forums.developer.nvidia.com/t/the-camera-crops-objects-when-i-zoom-in/220278) but it doesn't work. I don't know how to solve it yet :disappointed:

[PARKBONG]

@Toni-SM ,

I solved the issue by applying this post,

I changed the openxr.py / get_or_create_viewport_window

to this:

def get_or_create_vieport_window(camera, teleport=True, window_size=(400, 300), resolution=(1280, 720)):
    window = None
    camera = str(camera.GetPath() if type(camera) is Usd.Prim else camera)
    # get viewport window
    for interface in self._viewport_interface.get_instance_list():
        w = self._viewport_interface.get_viewport_window(interface)
        if camera == w.get_active_camera():
            window = w
            # check visibility
            if not w.is_visible():
                w.set_visible(True)
            break
    # create viewport window if not exist
    if window is None:
        window = self._viewport_interface.get_viewport_window(self._viewport_interface.create_instance())
        window.set_window_size(*window_size)
        window.set_active_camera(camera)
        window.set_texture_resolution(*resolution)
        if teleport:
            window.set_camera_position(camera, 1.0, 1.0, 1.0, True)
            window.set_camera_target(camera, 0.0, 0.0, 0.0, True)
    return window

stage = omni.usd.get_context().get_stage()

# left camera
teleport_camera = False
self._prim_left = None
if type(left_camera) is Usd.Prim:
    self._prim_left = left_camera
elif stage.GetPrimAtPath(left_camera).IsValid():
    self._prim_left = stage.GetPrimAtPath(left_camera)
else:
    teleport_camera = True
    self._prim_left = stage.DefinePrim(omni.usd.get_stage_next_free_path(stage, left_camera, False), "Camera")

# bong - camera solutions
self._prim_left.GetAttribute("clippingRange").Set( (0.01, 1000000) ) #ADDED 
self._prim_left.GetAttribute("clippingPlanes").Set( np.array([1.0, 0.0, 1.0, 1.0]) ) #ADDED 

self._viewport_window_left = get_or_create_vieport_window(self._prim_left, teleport=teleport_camera)

# right camera
teleport_camera = False
self._prim_right = None
if right_camera is not None:
    if type(right_camera) is Usd.Prim:
        self._prim_right = right_camera
    elif stage.GetPrimAtPath(right_camera).IsValid():
        self._prim_right = stage.GetPrimAtPath(right_camera)
    else:
        teleport_camera = True
        self._prim_right = stage.DefinePrim(omni.usd.get_stage_next_free_path(stage, right_camera, False), "Camera")

self._prim_right.GetAttribute("clippingRange").Set( (0.01, 1000000) ) #ADDED 
self._prim_right.GetAttribute("clippingPlanes").Set( np.array([1.0, 0.0, 1.0, 1.0]) ) # ADDED
self._viewport_window_right = get_or_create_vieport_window(self._prim_right, teleport=teleport_camera) # CHANGED INDENT

# set recommended resolution
resolutions = self.get_recommended_resolutions()
if len(resolutions) and self._viewport_window_left is not None:
    self._viewport_window_left.set_texture_resolution(*resolutions[0])
if len(resolutions) == 2 and self._viewport_window_right is not None:
    self._viewport_window_right.set_texture_resolution(*resolutions[1])

# set camera properties
for property in camera_properties:
    self._prim_left.GetAttribute(property).Set(camera_properties[property])
    if right_camera is not None:
        self._prim_right.GetAttribute(property).Set(camera_properties[property])

# enable sensors
if self._viewport_window_left is not None:
    sensors.enable_sensors(self._viewport_window_left, [_syntheticdata.SensorType.Rgb])
if self._viewport_window_right is not None:
    sensors.enable_sensors(self._viewport_window_right, [_syntheticdata.SensorType.Rgb])

[Toni-SM]

Hi @PARKBONG

I encourage you to create a pull request with the change :)