gazebosim / gazebosim/gz-rendering
Fortress: Light gizmo (visual) is rendered in lidar
- Dominant language
- C++
- Stars
- 81
- Forks
- 90
- Avg merge
- 1d 13h
- Merged PRs (30d)
- 10
Description
## Environment
* OS Version: Ubuntu 20.04
* Source or binary build? Binary 6.16
* If this is a GUI or sensor rendering bug, describe your GPU and rendering system. Otherwise delete this section.
- Rendering plugin: ogre, ogre2 (both affected)
- [x] Sensor rendering error.
- [ ] GUI rendering error.
- EGL headless mode:
- [ ] Running in EGL headless mode
- Generally, mention all circumstances that might affect rendering capabilities:
- [ ] running on a dual GPU machine (integrated GPU + discrete GPU)
- [ ] running on a multi-GPU machine (it has multiple discrete GPUs)
- [x] running on real hardware
- [ ] running in virtual machine
- [ ] running in Docker/Singularity
- [ ] running remotely (e.g. via SSH)
- [ ] running in a cloud
- [ ] using VirtualGL, XVFB, Xdummy, XVNC or other indirect rendering utilities
- [x] GPU is concurrently used for other tasks
- [x] desktop acceleration
- [ ] video decoding (i.e. a playing Youtube video)
- [ ] video encoding
- [ ] CUDA/ROCm computations (Tensorflow, Torch, Caffe running)
- [ ] multiple simulators running at the same time
- [ ] other...
- Rendering system info:
- On Linux, provide the outputs of the following commands:
```bash
$ LANG=C lspci -nn | grep VGA # might require installing pciutils
06:00.0 VGA compatible controller [0300]: Advanced Micro Devices, Inc. [AMD/ATI] Renoir [1002:1636] (rev d1)
$ echo "$DISPLAY"
:0
$ LANG=C glxinfo -B | grep -i '\(direct rendering\|opengl\|profile\)' # might require installing mesa-utils package
direct rendering: Yes
Preferred profile: core (0x1)
Max core profile version: 4.6
Max compat profile version: 4.6
Max GLES1 profile version: 1.1
Max GLES[23] profile version: 3.2
OpenGL vendor string: AMD
OpenGL renderer string: AMD Radeon Graphics (radeonsi, renoir, LLVM 15.0.7, DRM 3.57, 6.7.5-060705-generic)
OpenGL core profile version string: 4.6 (Core Profile) Mesa 24.0.1 - kisak-mesa PPA
OpenGL core profile shading language version string: 4.60
OpenGL core profile context flags: (none)
OpenGL core profile profile mask: core profile
OpenGL version string: 4.6 (Compatibility Profile) Mesa 24.0.1 - kisak-mesa PPA
OpenGL shading language version string: 4.60
OpenGL context flags: (none)
OpenGL profile mask: compatibility profile
OpenGL ES profile version string: OpenGL ES 3.2 Mesa 24.0.1 - kisak-mesa PPA
OpenGL ES profile shading language version string: OpenGL ES GLSL ES 3.20
$ ps aux | grep Xorg
peci1 4438 1.0 0.3 1602564 99212 tty2 Sl+ úno22 73:58 /usr/lib/xorg/Xorg vt2 -displayfd 3 -auth /run/user/1000/gdm/Xauthority -background none -noreset -keeptty -verbose 3
peci1 670952 0.0 0.0 11600 2544 pts/5 S+ 17:08 0:00 grep --color=auto Xorg
$ sudo env LANG=C X -version # if you don't have root access, try to tell the version of Xorg e.g. via package manager
X.Org X Server 1.20.13
X Protocol Version 11, Revision 0
Build Operating System: linux Ubuntu
Current Operating System: Linux cras-17 6.7.5-060705-generic #202402161836 SMP PREEMPT_DYNAMIC Fri Feb 16 19:10:40 UTC 2024 x86_64
Kernel command line: BOOT_IMAGE=/boot/vmlinuz-6.7.5-060705-generic root=UUID=c8df4187-97f0-4be7-b095-39958ee965df ro quiet splash vt.handoff=7
Build Date: 29 January 2024 12:44:21PM
xorg-server 2:1.20.13-1ubuntu1~20.04.15 (For technical support please see http://www.ubuntu.com/support)
Current version of pixman: 0.38.4
Before reporting problems, check http://wiki.x.org
to make sure that you have the latest version.
```
- [ ] Please, attach the ogre.log or ogre2.log file from `~/.gz/rendering`
## Description
* Expected behavior: Light gizmos are not visible in lidar.
* Actual behavior: A light with `true` causes the gizmo to be captured by gpu lidar.
## Steps to reproduce
1. Add a light to the simulation and a GPU lidar.
2. Watch the lidar points.
3. Turn off the light gizmo using Component inspector.
4. The gizmo disappears from the lidar points.
MWE:
```xml
0.0040000000000000001
1
1000
0.2 0.2 0.2 1
0.8 0.8 0.8 1
true
0 0 -9.8
6e-06 2.3e-05 -4.2e-05
ogre2
https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ground Plane
2
0.01755
0.0070666699999999997
0.013816699999999999
0 0 0 0 -0 0
0.1 0.11 0.18
0.1 0.11 0.18
0 -0.07 0.045 3.14159 -0 3.14159
false
1
0 0 -1
0.8 0.8 0.5 1
0.8 0.8 0.5 1
true
60
0
0.10000000000000001
0.0025000000000000001
1.0471999999999999
1.5708
1
0 0 0.12 0 -0 0
0.5
0.00046162500000000001
0.00046162500000000001
0.00047306300000000002
0.073499999999999996
0.043499999999999997
0.073499999999999996
0.043499999999999997
10
1024
1
-3.1459000000000001
3.1459000000000001
128
-0.78539800000000004
0.78539800000000004
1
0.10000000000000001
50
0.01
gaussian
0
0.01
laser
top_box
0 0 1
-0 -0 0.1145 0 0 -0
false
false
```
To reproduce, run `rosrun ros_ign_bridge parameter_bridge '/world/example/model/X1/link/laser/sensor/laser/scan/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked'` and open up rviz with `rviz -f X1/laser/laser` and add the PointCloud2 topic.
## Output


Contributor guide
Assessment
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