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Why GpuRaySensor do not support intensity readings ?

asked 2014-04-03 10:45:45 -0500

dmeltz gravatar image

updated 2014-04-06 06:23:48 -0500

Hello all

I tried to create a laser sensor plugin based on the gazebo::sensors::GpuRaySensor. After lots of head breaking i discovered that this sensor do not support intensity reading. The GpuRaySensor::GetRetro function that suposed to provied the intensity readings in the GpuRaySensor.cc file looks like this :

double GpuRaySensor::GetRetro(int /*_index*/) const
{
  return 0.0;
}

https://bitbucket.org/osrf/gazebo/src/d6bfa5238c7c0cb3963716df16475b97f1f0051b/gazebo/sensors/GpuRaySensor.cc?at=default

The questions are : why is it so ? Is there a fundamental difficulty in applying GPU for intensity reading, or is there some other reason ? and also, does this capability is planed to be added in the near future ?

Thanks.

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answered 2014-04-07 15:04:17 -0500

Jose Luis Rivero gravatar image

updated 2020-01-22 12:53:59 -0500

I would say that Nate already answered this question in the gazebo mailing list. Here is the content of Nate's answer:

Retroreflective values are stored in collision shapes, and these values are read by the CPU ray sensor during the collision detection cycle.

The GPU ray sensor uses a shader to compute range readings instead of the collision detection mechanism. This means the GPU ray sensor does not know what collision shape produced the range reading, and cannot get an intensity reading.

It would be possible to get the collision shapes using a selection buffer technique. We don't currently have plans to implement this. I encourage you to file a ticket. We can also help you work on this feature. In the mean time, use the CPU ray sensor to get intensity readings.

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Yep, after several days that I waited for an answer here, I posted my question in the mailing list, and got Nate's answer.

Thanks for linking.

dmeltz gravatar imagedmeltz ( 2014-04-09 04:54:18 -0500 )edit
1

Is it somehow possible to still access the answer by Nate?

stereoline gravatar imagestereoline ( 2019-02-23 13:50:45 -0500 )edit
1

If anybody has a copy of that answer, please post it here. @jose-luis-rivero ?

peci1 gravatar imagepeci1 ( 2019-10-14 04:17:16 -0500 )edit

sorry for the delay, I've edited my answer.

Jose Luis Rivero gravatar imageJose Luis Rivero ( 2020-01-22 12:54:18 -0500 )edit
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Asked: 2014-04-03 10:45:45 -0500

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Last updated: Jan 22