filtered_cloud is incorrect

[nyxrobotics]

Description

If you set debug to true in move_group.launch, you can see filtered_cloud in rviz
This filtered_cloud automatically removes the robot's own model and the model of the scene added with rviz
However, this model is not fully removed and there is a point cloud that is not removed as shown in the image

Your environment

• ROS Distro: [Kinetic|Melodic|Noetic]
• OS Version: e.g. Ubuntu 18.04
• Source or Binary build?
• If binary, which release version?
• If source, which branch?

Steps to reproduce

Tell us how to reproduce this issue. Attempt to provide a working demo, perhaps using Docker.

Expected behaviour

Tell us what should happen

Actual behaviour

Tell us what happens instead

Backtrace or Console output

Use gist.github.com to copy-paste the console output or segfault backtrace using gdb.

[nyxrobotics]

I think octomap is working correctly and only filtered_cloud seems to be wrong.

[nyxrobotics]

I found the cause. These processes were using OpenGL, and instead of “erasing the inside of the BOX”, they were “rendering the mesh of the BOX and erasing the back side of the mesh to the shadow_threshold distance”. The first image shows that the point cloud at a distance greater than shadow_threshold from the mesh in view has not been removed.

moveit/moveit_ros/perception/mesh_filter/src/stereo_camera_model.cpp

Lines 165 to 180 in 051e3ed

	" float dValue = float(texture2D(depth, gl_TexCoord[0].st));"
	" float zValue = dValue * near / (far - dValue * f_n);"
	" float diff = sValue - zValue;"
	" if (diff < 0 && sValue < 1) {"
	" gl_FragColor = vec4 (0, 0, 0, 0);"
	" gl_FragDepth = float(texture2D(sensor, gl_TexCoord[0].st));"
	" } else if (diff > threshold) {"
	" gl_FragColor = vec4 (shadowLabel, 0, 0, 0);"
	" gl_FragDepth = float(texture2D(sensor, gl_TexCoord[0].st));"
	" } else if (sValue == 1) {"
	" gl_FragColor = vec4 (farLabel, 0, 0, 0);"
	" gl_FragDepth = float(texture2D(sensor, gl_TexCoord[0].st));"
	" } else {"
	" gl_FragColor = texture2D(label, gl_TexCoord[0].st);"
	" gl_FragDepth = 0;"
	" }"

[nyxrobotics]

The problem seems to be solved by increasing shadow_threshold.
However, the following issues need to be fixed

• There are some bugs
• Source code is hard to read.
• Debugging topics cannot be displayed in Rviz