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[bug] Depth camera sees through walls
See original GitHub issueUnder some conditions - bump into the wall and look diagonally, depth camera can see through walls. Look up and down are NOT used here.
How to reproduce:
python3 -m minos.tools.pygame_client --width 512 --height 512 --depth -s map --navmap --scene_ids 87f009ce2c904df0f0b75433611e74bf
And here is video of where to go:
https://drive.google.com/open?id=16Y6OSGX6HlCcktCYHaLPWyRwRNKhfxNE
Issue Analytics
- State:
- Created 5 years ago
- Reactions:1
- Comments:8 (8 by maintainers)
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That’s great! Let us know if you see other problems. Also make sure to set the
noise: trueto use the simple depth noise model. Feel free to also add your own noise models. 😃@ducha-aiki The issue you were observing is due to the larger default near plane setting (0.1) of the depth sensor relative to the color sensor (0.001). Thanks for reporting this – it is indeed quite important to set the near plane distance to match. Cutting off for near and far depth distance thresholds can then be done in the noise model functions instead.