Fog causes texture popping?

asked 2020-05-06 07:07:01 -0500

wampus gravatar image


I'm trying to incorporate fog into a scenario used for visual ML testing. I'm noticing that there are some odd texturing effects from the saved camera plugin output. (Gazebo-9 on Ubuntu 18.04)

Some times the images look as expected:

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But a small shift in perspective will render certain surfaces opaque (as if max fog opacity/density has suddenly been achieved?)

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Can anyone shed some light on this? I've tried tweaking the fog parameters (density, start, end) and this effect seems pretty global, though it changes how/when based on the parameters.

There is also some odd texturing effects that happen to a default model (VRC Driving Terrain) where the fog removes textures globally:

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As compared to:

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Any comments and suggestions are greatly appreciated.

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