Camera Rendering Incomplete After Modifying znear and zfar #1982

LinShuang22 · 2024-05-28T09:19:07Z

LinShuang22
May 28, 2024

Hi, I'm a student and I'm trying to use MuJoCo for visual simulation and servo control.

My simulation environment is small, so I need to make the camera's observable space very limited. I am restricting the camera's field of view using the znear, zfar, and extent parameters.

    <statistic extent="1"/>
    <visual>
        <global offheight="6000" offwidth="6000"/>
        <map znear="0.07317" zfar="0.08027"/>
    </visual>

In my model, there are two types of cameras: one is horizontal, and the other is tilted. After limiting the field of view, the rendering of the tilted camera becomes incomplete. Only the lower half displays a normal image, while the upper half may render the scene.

When there are no restrictions, the image looks like this:

When the restrictions are applied, the image looks like this. The upper half of the image displays almost nothing, with only a small part of the scene visible.

I increased the zfar value, which alleviated the issue to some extent, but a significant portion of the scene is still not visible.

Additionally, this issue seems to occur only with the tilted camera, and not with the horizontal camera.

Here is a model which explains my question:

minimal XML

<mujoco model="Simple Test">
    <compiler angle="radian" />
    <size njmax="500" nconmax="100" />
    <statistic extent="1"/>
    <visual>
        <global offheight="6000" offwidth="6000"/>
<!--        <map znear="0.01" zfar="10"/>-->
        <map znear="0.07317" zfar="0.08027"/>
<!--        <map znear="0.07317" zfar="0.09027"/>-->
        <scale camera="0.1" contactwidth="0.1"
               framelength="0.2" framewidth="0.02"
               jointlength="0.2" jointwidth="0.02"
               frustum="0.5"
        />
        <rgba camera="1 0 0 1"
              frustum="1. 0. 0 0.1"/>
    </visual>
    <option gravity="0 0 0"/>
    <asset>
        <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
        <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
                 width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
        <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
    </asset>

    <worldbody>
        <!-- background  -->
        <light directional="true" diffuse=".8 .8 .8" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1" castshadow="false"/>
        <geom name="ground" type="plane" pos="0.5 0.75 -0.75" size="4 4 .01" material="matplane" condim="1"/>

        <geom name="platform" pos="0.8 0.6 0.075" rgba="0.780392 0.760784 0.741176 1" type="box" size="0.8 0.6 0.075"/>

        <body name="micro_tube" pos="1.00104992 0.59999945 0.37015233">
            <geom type="cylinder" pos="0.0001 0 0.085" size="0.0002 0.1" rgba="0.807843 0.843137 0.905882 1"/>
            <joint name="tube_slide" type="slide" axis="0 0 1" limited="true" range="-0.02 0.02"/>
        </body>

        <body name="v1_cam_body" pos="0.99999948 0.87947726 0.68304013" quat="-3.45168e-06 -1.25631e-06 0.342019 0.939693">
            <camera name="v1_1x_cam" mode="track" pos="0 0.002 -0.35805" euler="0 0 0"
                    focal="0.08 0.08" sensorsize="0.0128 0.0128" resolution="5120 5120"/>

<!--            <camera name="v1_1.36x_cam" mode="track" pos="0 0.002 -0.35805" euler="0 0 0"-->
<!--                    focal="0.104 0.104" sensorsize="0.0128 0.0128" resolution="5120 5120" principalpixel="0 0"/>-->

<!--            <camera name="v1_2x_cam" mode="track" pos="0 0.002 -0.35805" euler="0 0 0"-->
<!--                    focal="0.16 0.16" sensorsize="0.0128 0.0128" resolution="5120 5120" principalpixel="0 0"/>-->

<!--            <camera name="v1_5x_cam" mode="track" pos="0 0.002 -0.35805" euler="0 0 0"-->
<!--                    focal="0.4 0.4" sensorsize="0.0128 0.0128" resolution="5120 5120" principalpixel="0 0"/>-->

<!--            <camera name="v1_10x_cam" mode="track" pos="0 0.002 -0.35805" euler="0 0 0"-->
<!--                    focal="0.8 0.8" sensorsize="0.0128 0.0128" resolution="5120 5120" principalpixel="0 0"/>-->
        </body>

        <body name="h1_cam_body" pos="0.98999972 1.0015 0.31" euler="0 0 3.141592654">
            <camera name="h1_1x_cam" mode="track" pos="-0.01036 0.32474 0.03983" euler="1.570796327 0 0"
                    focal="0.08 0.08" sensorsize="6e-3 6e-3" resolution="5120 5120" principalpixel="0 0" />

<!--            <camera name="h1_1.36x_cam" mode="track" pos="-0.01036 0.32474 0.03983" euler="1.570796327 0 0"-->
<!--                    focal="0.104 0.104" sensorsize="0.0128 0.0128" resolution="5120 5120" principalpixel="0 0"/>-->
<!--            -->
<!--            <camera name="h1_2x_cam" mode="track" pos="-0.01036 0.32474 0.03983" euler="1.570796327 0 0"-->
<!--                    focal="0.16 0.16" sensorsize="0.0128 0.0128" resolution="5120 5120" principalpixel="0 0"/>-->
<!--            -->
<!--            <camera name="h1_5x_cam" mode="track" pos="-0.01036 0.32474 0.03983" euler="1.570796327 0 0"-->
<!--                    focal="0.4 0.4" sensorsize="0.0128 0.0128" resolution="5120 5120" principalpixel="0 0"/>-->
<!--            -->
<!--            <camera name="h1_10x_cam" mode="track" pos="-0.01036 0.32474 0.03983" euler="1.570796327 0 0"-->
<!--                    focal="0.8 0.8" sensorsize="0.0128 0.0128" resolution="5120 5120" principalpixel="0 0"/>-->
        </body>

        <body name="end" pos="1 0.6 0.35">
            <joint name="end-free" pos="0 0 0" type="free" damping="0"/>
            <geom name="end_plate" pos="0 0 -0.03" rgba="1 0.9 0.7 1" type="box" size="0.01 0.01 0.03"/>
            <body name="micro_ball" pos="0 0 0">
                <geom name="micro_ball" pos="0 0 0.0008" type="sphere" size="0.002" rgba="0.792157 0.819608 0.933333 1"/>
                <geom pos="0 0 0.0028" type="cylinder" rgba="1 0 0 1" size="0.00002 1e-8"/>
            </body>
        </body>
    </worldbody>
</mujoco>

I want to know if there are parameters I haven't set correctly or if this is a bug.

Thanks a lot for your help.

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Camera Rendering Incomplete After Modifying znear and zfar #1982

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LinShuang22 May 28, 2024

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LinShuang22
May 28, 2024