Closed hardesh closed 2 years ago
When you applied the material, how did you do it?
Can you upload the model and sdf somewhere so that it can be reproduced?
Hi @mjcarroll,
I applied the material using UV unwrap in Blender.
Here's the model apriltag_block.zip
Hey @mjcarroll, is there any update on this? curious to know the details
also, can you point me towards a design doc if it exists? want to know more about the workings of the simulator
is there any update on this? curious to know the details
On my list to take a look at this morning.
also, can you point me towards a design doc if it exists?
Probably the best jumping-off point is here: https://ignitionrobotics.org/docs/all/architecture
I'm having trouble reproducing, this is what it looks like with fortress
binaries on my system:
From the GUI Viewer
From the sensor image viewer
The camera parameters are:
<sensor name="camera" type="camera">
<always_on>1</always_on>
<update_rate>20</update_rate>
<camera name="camera">
<horizontal_fov>1.0472</horizontal_fov>
<lens>
<intrinsics>
<!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
<fx>1108.5</fx>
<fy>1108.5</fy>
<!-- cx = ( width + 1 ) / 2 -->
<cx>640.5</cx>
<!-- cy = ( height + 1 ) / 2 -->
<cy>480.5</cy>
<s>0</s>
</intrinsics>
</lens>
<image>
<width>1280</width>
<height>960</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.01</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
</sensor>
I'm using the sensor like this. Am I missing something?
<sensor name="color" type="camera">
<pose>0 0 0 0 0 0</pose>
<update_rate>6</update_rate>
<always_on>0</always_on>
<camera>
<horizontal_fov>1.22</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
</image>
<clip>
<near>0.1</near>
<far>50</far>
</clip>
<lens>
<intrinsics>
<fx>615.9603271484375</fx>
<fy>616.227294921875</fy>
<cx>419.83026123046875</cx>
<cy>245.1431427001953</cy>
<s>0</s>
</intrinsics>
</lens>
</camera>
</sensor>
The only difference I'm seeing is: <format>R8G8B8</format>
, but given that you are seeing other color, that seems unlikely to be it.
How are you loading the model, is it possible that the GUI/server side is using a cached version?
I'm loading the model using the create
node in ros_ign_gazebo
. I don't think it's loading a cached version. I had made some changes in the model and those were directly reflected in gazebo after building
can you check the first of ignition-rendering6 you have?
One thing to try is updating to the latest version, which is currently 6.3.1. Also make sure that it's running with the ogre2 render engine. There is also an ~/.ignition/rendering/ogre2.log
to indicate if there're any issues (look for ogre exceptions)
Hi,
I saw this and figured I could help.
So, I tested it on my sdf. See the result
What is your version on Fortress? You can check by ign gazebo --version
I looked into your camera paramter. I think it's because you are calling camera
instead of rgb_camera
.
See here from my code:
<sensor name="rgbd_camera" type="rgbd_camera">
<update_rate>100</update_rate>
<visualize>true</visualize>
<always_on>1</always_on>
<topic>IR0</topic>
<camera>
<horizontal_fov>1.2</horizontal_fov>
<image>
<width>1</width>
<height>1</height>
<format>L_INT8</format>
</image>
<clip>
<near>0.02</near>
<far>10.0</far>
</clip>
</camera>
</sensor>
Obviously, you will need to adjust this to your own setting, but this is official sample from ign's rgb camera.
Can you let us know if it's fixed on your end? I humbly encourage you to discuss more about this in gazebo community since this is related to code isssues, not ign bug.
Hi @Kakcalu13, Thanks for letting me know. I haven't had a chance to take a look at this :sweat_smile: . It's on my TODO list. I'll try again on Monday
Just installed ign on fresh ubuntu 22! ign gazebo --version
is giving me
Ignition Gazebo, version 6.9.0
Copyright (C) 2018 Open Source Robotics Foundation.
Released under the Apache 2.0 License.
Still facing the same issue
Hi @iche033, Checked the log. Found some relevant lines related to the model:
Added resource location '/home/harshal/sim_ws/install/movus_ignition_sim/share/movus_ignition_sim/models/apriltag_block/meshes' of type 'FileSystem' to resource group 'General' with recursive option
23:12:27: Initialising resource group General
23:12:27: Added resource location '/home/harshal/sim_ws/install/movus_ignition_sim/share/movus_ignition_sim/models/apriltag_block/meshes/' of type 'FileSystem' to resource group 'General'
23:12:27: Texture memory budget exceeded. Stalling GPU.
23:12:27: Stalling was not enough. Freeing memory.
23:12:27: Can't assign material scene::Material(65429) because this Material does not exist. Have you forgotten to define it in a .material script?
23:12:27: Can't assign material scene::Material(65428) because this Material does not exist. Have you forgotten to define it in a .material script?
23:12:27: Vertex Shader: 100000000VertexShader_vs
Fragment Shader: 100000000PixelShader_ps
GLSL validation result :
active samplers with a different type refer to the same texture image unit
23:12:27: Vertex Shader: 100000001VertexShader_vs
Fragment Shader: 100000001PixelShader_ps
GLSL validation result :
active samplers with a different type refer to the same texture image unit
I'm can't understand what exactly is happening though
Just installed ign on fresh ubuntu 22!
ign gazebo --version
is giving meIgnition Gazebo, version 6.9.0 Copyright (C) 2018 Open Source Robotics Foundation. Released under the Apache 2.0 License.
Still facing the same issue
I wonder if it is because of ubuntu 22. :thinking:
Let me know if the code I gave you changed anything
I wonder if it is because of ubuntu 22. thinking
I was facing the same issue on Ubuntu 20
Also, your snippet did not work
Hi everyone,
I just checked the world file today and found out that I was using OGRE1 engine. Extremely sorry for wasting everyone's time. Closing this issue.
Is there any doc where I can read about the difference between OGRE1 and OGRE2?
Here is the doc
Here is example on ogre and ogre2
Speak of ogre1/ogre2...I wonder if it is possible to run ogre1 while camera and everything else on ogre2 or highest quality. :thinking: I think this is great way to experiment!
Thanks for sharing!
Environment
Description
Actual behavior: I generated the![Screenshot from 2022-04-11 14-32-57](https://user-images.githubusercontent.com/37694296/162703964-59539bfd-f280-4f5c-a021-bdacb299e823.png)
.dae
using blender today and applied a color on the box. That color is visible in the actual ignition GUI but it's not visible in the camera image.Expected behavior: Actual color of the mesh should be visible in the camera image