Rendering problems of URDF files using getCameraImage

Post Reply
tdeprelle
Posts: 1
Joined: Thu Mar 09, 2017 5:32 pm

Rendering problems of URDF files using getCameraImage

Post by tdeprelle »

Hi everyone,

Does anyone know why some part of an urdf file don't show up when I do the rendering via getCameraImage ?

Here is my code :

Code: Select all

x = 640 
y = 480 

nearPlane = 0.1
farPlane = 10
fov = 110

p.connect(p.DIRECT)
p.loadURDF("room.urdf", [0,0,0])
        
viewMatrix = p.computeViewMatrix(positionCamera, orientationCamera, [0, 0, 1])
aspect = x / y;
projectionMatrix = p.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane);

img_arr = p.getCameraImage(x, y, viewMatrix, projectionMatrix,[0,1,0])
While I'm moving the camera I'm using PILLOW to print the picture, I've tried matplotlib too and the result is the same...

I've linked billow some commented pictures to help you understand the problem.

Thanks for your help guys !
Attachments
As you can see there is no problem when the urdf file is loaded by the GUI browser
As you can see there is no problem when the urdf file is loaded by the GUI browser
image2.png (81.4 KiB) Viewed 3146 times
But here you can see the problem. Some part of the walls are missing when I'm visualising the depth buffer via getCameraImage (and I get the same problem with the RGB picture...)
But here you can see the problem. Some part of the walls are missing when I'm visualising the depth buffer via getCameraImage (and I get the same problem with the RGB picture...)
image.png (53.45 KiB) Viewed 3146 times
Post Reply