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haosulab / SAPIEN

SAPIEN Embodied AI Platform
https://sapien.ucsd.edu/
MIT License
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change resolution of ActiveLightSensor #84

Closed crtie closed 2 years ago

crtie commented 2 years ago

Hello! I'm using ActiveLightSensor in my project. But I discover the default resolution of ActiveLightSensor(1920*1080) is so high that it's slow to get pointcloud, so I want to decrease the resolution. So I operate like this. 图片 But it reports a "malloc():invalid size (unsorted)" error. Is my operation wrong? What't the right method to change ActiveLightSensor's resolution? my sapien version is 2.1.0 Thanks!

jetd1 commented 2 years ago

Hi, ActiveLightSensor currently creates all required buffers during initialization. It will break if you change the camera parameters afterwards. In your case we recommend dropping sensor_type='fakesense_j415' and passing all camera parameters manually when creating the sensor. See https://github.com/haosulab/SAPIEN/blob/02287b2a2ebdce5f38f637577f6debe4fbb757ce/python/py_package/sensor/activelight.py#L188 for the actual parameters for 'fakesense_j415'.