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assigned issue to
same intensity values populated if gpu_ray is used
Issue #13
new
Even though the objects in the Gazebo world has different Retro values, the published pointclouds has the same values. if sensor type="gpu_ray" and <plugin name="gazebo_ros_laser_controller" filename="libgazebo_ros_velodyne_gpu_laser.so"> is used.
In the same world if sensor type="ray" and <plugin name="gazebo_ros_laser_controller" filename="libgazebo_ros_velodyne_laser.so"> is used the points in the pointclouds has different intensities.
Comments (4)
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If the material has the the laser_retro property, the intensity of the reflected ray changes.
Example -> <laser_retro> 200 </laser_retro> .An example world is as follows.
<sdf version='1.6'> <world name='default'> <light name='sun' type='directional'> <cast_shadows>1</cast_shadows> <pose frame=''>0 0 10 0 -0 0</pose> <diffuse>0.8 0.8 0.8 1</diffuse> <specular>0.2 0.2 0.2 1</specular> <attenuation> <range>1000</range> <constant>0.9</constant> <linear>0.01</linear> <quadratic>0.001</quadratic> </attenuation> <direction>-0.5 0.1 -0.9</direction> </light> <model name='ground_plane'> <static>1</static> <link name='link'> <collision name='collision'> <geometry> <plane> <normal>0 0 1</normal> <size>100 100</size> </plane> </geometry> <surface> <friction> <ode> <mu>100</mu> <mu2>50</mu2> </ode> <torsional> <ode/> </torsional> </friction> <contact> <ode/> </contact> <bounce/> </surface> <max_contacts>10</max_contacts> </collision> <visual name='visual'> <cast_shadows>0</cast_shadows> <geometry> <plane> <normal>0 0 1</normal> <size>100 100</size> </plane> </geometry> <material> <script> <uri>file://media/materials/scripts/gazebo.material</uri> <name>Gazebo/Grey</name> </script> </material> </visual> <self_collide>0</self_collide> <enable_wind>0</enable_wind> <kinematic>0</kinematic> </link> </model> <gravity>0 0 -9.8</gravity> <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field> <atmosphere type='adiabatic'/> <physics name='default_physics' default='0' type='ode'> <max_step_size>0.001</max_step_size> <real_time_factor>1</real_time_factor> <real_time_update_rate>1000</real_time_update_rate> </physics> <scene> <ambient>0.4 0.4 0.4 1</ambient> <background>0.7 0.7 0.7 1</background> <shadows>1</shadows> </scene> <wind/> <spherical_coordinates> <surface_model>EARTH_WGS84</surface_model> <latitude_deg>0</latitude_deg> <longitude_deg>0</longitude_deg> <elevation>0</elevation> <heading_deg>0</heading_deg> </spherical_coordinates> <model name='unit_box'> <pose frame=''>-1.03598 -0.346687 0.5 0 -0 0</pose> <link name='link'> <inertial> <mass>1</mass> <inertia> <ixx>0.166667</ixx> <ixy>0</ixy> <ixz>0</ixz> <iyy>0.166667</iyy> <iyz>0</iyz> <izz>0.166667</izz> </inertia> <pose frame=''>0 0 0 0 -0 0</pose> </inertial> <collision name='collision'> <geometry> <box> <size>1 1 1</size> </box> </geometry> <laser_retro> 200 </laser_retro> <max_contacts>10</max_contacts> <surface> <contact> <ode/> </contact> <bounce/> <friction> <torsional> <ode/> </torsional> <ode/> </friction> </surface> </collision> <visual name='visual'> <geometry> <box> <size>1 1 1</size> </box> </geometry> <material> <script> <name>Gazebo/Grey</name> <uri>file://media/materials/scripts/gazebo.material</uri> </script> </material> </visual> <self_collide>0</self_collide> <enable_wind>0</enable_wind> <kinematic>0</kinematic> </link> </model> <model name='unit_sphere'> <pose frame=''>2.70316 -0.305091 0.5 0 -0 0</pose> <link name='link'> <inertial> <mass>1</mass> <inertia> <ixx>0.1</ixx> <ixy>0</ixy> <ixz>0</ixz> <iyy>0.1</iyy> <iyz>0</iyz> <izz>0.1</izz> </inertia> <pose frame=''>0 0 0 0 -0 0</pose> </inertial> <collision name='collision'> <geometry> <sphere> <radius>0.5</radius> </sphere> </geometry> <laser_retro> 100 </laser_retro> <max_contacts>10</max_contacts> <surface> <contact> <ode/> </contact> <bounce/> <friction> <torsional> <ode/> </torsional> <ode/> </friction> </surface> </collision> <visual name='visual'> <geometry> <sphere> <radius>0.5</radius> </sphere> </geometry> <material> <script> <name>Gazebo/Grey</name> <uri>file://media/materials/scripts/gazebo.material</uri> </script> </material> </visual> <self_collide>0</self_collide> <enable_wind>0</enable_wind> <kinematic>0</kinematic> </link> </model> <model name='unit_cylinder'> <pose frame=''>1.31435 -2.97957 0.5 0 -0 0</pose> <link name='link'> <inertial> <mass>1</mass> <inertia> <ixx>0.145833</ixx> <ixy>0</ixy> <ixz>0</ixz> <iyy>0.145833</iyy> <iyz>0</iyz> <izz>0.125</izz> </inertia> <pose frame=''>0 0 0 0 -0 0</pose> </inertial> <collision name='collision'> <geometry> <cylinder> <radius>0.5</radius> <length>1</length> </cylinder> </geometry> <max_contacts>10</max_contacts> <surface> <contact> <ode/> </contact> <bounce/> <friction> <torsional> <ode/> </torsional> <ode/> </friction> </surface> </collision> <visual name='visual'> <geometry> <cylinder> <radius>0.5</radius> <length>1</length> </cylinder> </geometry> <laser_retro> 250 </laser_retro> <material> <script> <name>Gazebo/Grey</name> <uri>file://media/materials/scripts/gazebo.material</uri> </script> </material> </visual> <self_collide>0</self_collide> <enable_wind>0</enable_wind> <kinematic>0</kinematic> </link> </model> <state world_name='default'> <sim_time>43 677000000</sim_time> <real_time>44 49156399</real_time> <wall_time>1542705850 570566060</wall_time> <iterations>43677</iterations> <model name='ground_plane'> <pose frame=''>0 0 0 0 -0 0</pose> <scale>1 1 1</scale> <link name='link'> <pose frame=''>0 0 0 0 -0 0</pose> <velocity>0 0 0 0 -0 0</velocity> <acceleration>0 0 0 0 -0 0</acceleration> <wrench>0 0 0 0 -0 0</wrench> </link> </model> <model name='unit_box'> <pose frame=''>-1.03598 -0.346687 0.499995 0 1e-05 0</pose> <scale>1 1 1</scale> <link name='link'> <pose frame=''>-1.03598 -0.346687 0.499995 0 1e-05 0</pose> <velocity>0 0 0 0 -0 0</velocity> <acceleration>0.010615 -0.006191 -9.78231 0.012424 0.021225 1.8e-05</acceleration> <wrench>0.010615 -0.006191 -9.78231 0 -0 0</wrench> </link> </model> <model name='unit_cylinder'> <pose frame=''>1.31435 -2.97957 0.499997 3e-06 4e-06 -0</pose> <scale>1 1 1</scale> <link name='link'> <pose frame=''>1.31435 -2.97957 0.499997 3e-06 4e-06 -0</pose> <velocity>0 0 0 0 -0 0</velocity> <acceleration>0 0 -9.8 0 -0 0</acceleration> <wrench>0 0 -9.8 0 -0 0</wrench> </link> </model> <model name='unit_sphere'> <pose frame=''>2.70316 -0.305091 0.5 0 -0 0</pose> <scale>1 1 1</scale> <link name='link'> <pose frame=''>2.70316 -0.305091 0.5 0 -0 0</pose> <velocity>0 0 0 0 -0 0</velocity> <acceleration>0 0 0 0 -0 0</acceleration> <wrench>0 0 0 0 -0 0</wrench> </link> </model> <light name='sun'> <pose frame=''>0 0 10 0 -0 0</pose> </light> </state> <gui fullscreen='0'> <camera name='user_camera'> <pose frame=''>6.03451 -1.78 1.90323 0 0.331643 -3.05499</pose> <view_controller>orbit</view_controller> <projection_type>perspective</projection_type> </camera> </gui> </world> </sdf>
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Hello Kevin. Have you got any update on this issue? Or do you have any insights?
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Sorry, I haven't looked into it yet.
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All the worlds and models I tried produced the same intensity on CPU and GPU. Do you have an example world or model to reproduce this?