Depth Camera Issue with 3D Acceleration Enabled in VMWare

[SakshayMahna]

Environment

• OS Version: Ubuntu 18.04
• Gazebo 11

Description

• Expected behavior: Depth Camera reporting faraway background as close
• Actual behavior: The background should appear as faraway

Steps to reproduce

I am using VMWare for running Gazebo inside a Virtual Machine in Ubuntu 18.04

1. In VM settings, under Settings > Hardware > Display, enable Accelerate 3D graphics
2. Launch Gazebo in VM
3. Add a Depth Camera in Gazebo World
4. Observe the output of the Depth Camera (Under Window > Topic Visualization)
5. Compare the output when 3D Accelerated Graphics are disabled

Output

Behavior without 3D Accelerated Graphics

Behavior with 3D Accelerated Graphics

The closer objects should be darker in color and faraway objects should be lighter in color. For the first image, the output from Depth Camera is fine. For second image, the output from Depth Camera seems buggy.

[traversaro]

Which version of mesa and of VMWare are you using? Ubuntu 18.04 is the host or vm OS? Unfortunatly, the fact that the problem happens only when you are using a given 3D video driver suggest that the problem may be in the OpenGL implementation you are using, rather than in Gazebo.