[gazebo_plugins] libgazebo_ros_camera - some objects incorrectly occluded - Githubissues

ros-simulation / gazebo_ros_pkgs

Wrappers, tools and additional API's for using ROS with Gazebo

http://wiki.ros.org/gazebo_ros_pkgs

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[gazebo_plugins] libgazebo_ros_camera - some objects incorrectly occluded #417

Open xperroni opened 8 years ago

xperroni commented 8 years ago

Camera images published by libgazebo_ros_camera show certain objects incorrectly occluded by others, or even by the ground plane itself.

Steps to reproduce

Start gazebo_ros with the attached world file;
Open RQT and connect the image viewer to the /camera/image_raw topic;
On the Gazebo UI, check option View->Transparent;
Check the RQT image viewer again.

See the attached ZIP archive for the world file and complementary files.

occlusion_bug_files.zip

Results

Expected: the image on RQT should show the FIRST 2015 trash can model in full, as it's standing in front of the camera;
Actual: Only the top half of the trash can is visible. When switching the Transparent option on Gazebo, it can be seen on RQT that the remaining of the trash can is standing "behind" the ground plane, which was erroneously rendered over it.

See attached images for actual results from both Gazebo and RQT.

I'm using Gazebo 7 with ROS Indigo on Kubuntu 14.04.1.

View of the scene from Gazebo:

view_from_gazebo

Camera image preview as seen from inside Gazebo:

camera_image_from_gazebo

Camera image from RQT:

camera_image_from_rqt

Camera image from RQT after the Transparent option is selected on Gazebo:

camera_image_from_rqt_transparent

skohlbr commented 8 years ago

I believe the same issue is tracked on the Gazebo Bitbucket issue tracker here: https://bitbucket.org/osrf/gazebo/issues/1837/vmware-rendering-z-ordering-appears-random

xperroni commented 8 years ago

Yes, it looks very much like my problem. Unfortunately it seems the only way to fix it is to recompile Gazebo with anti-aliasing disabled, though.

j-rivero commented 8 years ago

Let's keep track of the problem in the gazebo issue