Camera Image Not Aligning With Simulator Images

[jasoon-chen]

I'm trying to get an RGB image from the camera. This is what I have:

camera_hand = env.GetAttr(654321)
camera_hand.SetTransform(position=gripper.data['position'], rotation=[-90, 90, -90])
camera_hand.SetParent(3158930)
camera_hand.GetRGB(512, 512)
rgb = np.frombuffer(camera_hand.data["rgb"], dtype=np.uint8)
rgb = cv2.imdecode(rgb, cv2.IMREAD_COLOR)
cv2.imwrite("rgb.png", rgb)

This is what the simulator sees:

This is what RGB.png sees:

It appears that the cloth is completely out of the RGB image but in the field of view of the camera. Is this a configuration issue with my camera?

[alkdischen]

Hi @jasoon-chen.
The camera might be too close to the clothing, which could be causing the clipping issue. Could you try stepping back a bit and then take the picture again?

[jasoon-chen]

Sorry for the delayed response. I moved the camera back and I am experiencing the same issue. Is this reproducible on your end?

[alkdischen]

Hi @jasoon-chen ! We have just updated the Dressing Player. Could you please update and try again?

[jasoon-chen]

I just updated it and now the dress is gone upon initializing of the environment. It appears the cloth just falls through the floor.
Screencast from 08-26-2024 04:53:16 PM.webm

[alkdischen]

Hi @jasoon-chen , the camera bug has been fixed and the new Dressing Player has been updated!

[jasoon-chen]

Thanks! I'm now able to see the cloth.