Exclude everything except specific models from simulated camera rendering

Hi guys,

is it possible to exclude distinct parts of the scene graph, only for the simulated camera? I want to use both, the typical gzclient for visualization as well as a simulated camera which only renders models, i have defined a priori. I've seen, that there is something similar with the SkyX moon and clouds visualization. They seem to be de-activated during the rendering of the simulated camera view:

// Disable clouds and moon on server side until fixed and also to improve performance this->scene->SetSkyXMode(rendering::Scene::GZ_SKYX_ALL & ~rendering::Scene::GZ_SKYX_CLOUDS & ~rendering::Scene::GZ_SKYX_MOON);

Is it possible to do this for

ground color
models, like the ground plane e.g.,
sky color gradient ?

With best regards,

Marc

Asked by VehS on 2016-01-10 05:05:02 UTC

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Answers

For the models you don't want to see, you might be able to do it by setting their visibility flag to GZ_VISIBILITY_GUI. This is how we keep things like joint visuals from showing up on cameras.

Asked by chapulina on 2016-01-11 13:25:39 UTC

Comments

This seems to be an approach for models, but how to exclude the ground color (not ground plane) and the sky from rendering?

Asked by VehS on 2016-01-11 13:49:10 UTC

I'm not sure what you mean by the ground color, The default ground plane on Gazebo is a model like any other. I don't know if a straight forward solution for the sky, maybe you can disable it completely and change the background color?

Asked by chapulina on 2016-01-11 13:57:21 UTC