Depth map rendering error

I added matplotlib support to ./tests/test_render_from_depth_osmesa.py to show the generated color images. The modified codes are shown below.

# Copyright (c) Facebook, Inc. and its affiliates.

# This source code is licensed under the MIT license found in the
# LICENSE file in the root directory of this source tree.

import os

import numpy as np  # noqa: E402
import tacto  # noqa: E402
from matplotlib import pyplot as plt
# os.environ["PYOPENGL_PLATFORM"] = "osmesa"
# os.environ["PYOPENGL_PLATFORM"] = "EDL"
os.chdir(os.path.dirname(__file__))

# Render from OSMesa should be deterministic
def test_render_from_depth_osmesa():
    # tacto.Renderer use np.random.randn to generate noise.
    # Fix the random seed here to make test deterministic
    np.random.seed(2020)

    # Create renderer
    renderer = tacto.Renderer(
        width=60, height=80, config_path=tacto.get_digit_config_path(), background=None
    )

    # Get the path of current file
    cur_path = os.path.dirname(__file__)

    # Render
    depthmap = np.load(os.path.join(cur_path, "depthmap.npy"))
    color_gt = np.load(os.path.join(cur_path, "color-osmesa-ground-truth.npy"))

    color, _ = renderer.render_from_depth(depthmap, scale=0.01)
    plt.figure()
    plt.subplot(1,3,1)
    plt.title("Depth map")
    plt.imshow(depthmap)
    # plt.colorbar()
    plt.subplot(1,3,2)
    plt.title("color gt")
    plt.imshow(color_gt)
    plt.subplot(1,3,3)
    plt.title("color sim")
    plt.imshow(color)
    # NOTE(poweic): This is how ground-truth is generated. Run this in docker
    # and make sure you eyeball the resulting image before committing the change
    # np.save(os.path.join(cur_path, "color-osmesa-ground-truth.npy"), color)

    diff = color - color_gt
    rms = (diff ** 2).mean() ** 0.5
    print("RMSE:{}".format(rms))
    plt.show()

if __name__ == "__main__":
    test_render_from_depth_osmesa()

However, the color image doesn't show a contact, which is not consistent with the depth map. Figure_1

Is it normal?

I really appreciate your reply.

facebookresearch / tacto

Depth map rendering error #43