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Metadata from Collada files #1045
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Note that if the answer is "yes, it should" I can put it into a PR. I wanted to discuss first though. |
I don't feel strongly about it. Ideally it would follow the standard, but I'm not sure it's worth potentially breaking behavior for existing models that have worked around this issue in someway. |
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RViz doesn't respect it anyway ( ros-visualization/rviz#1045 ), but current versions of three.js' ColladaLoader (used in the RobotWebTools, see RobotWebTools/ros3djs#202 ) do! (Since RViz doesn't respect the tag, this does not break the model)
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RViz doesn't respect it anyway ( ros-visualization/rviz#1045 ), but current versions of three.js' ColladaLoader (used in the RobotWebTools, see RobotWebTools/ros3djs#202 ) do! (Since RViz doesn't respect the tag, this does not break the model)
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RViz doesn't respect it anyway ( ros-visualization/rviz#1045 ), but current versions of three.js' ColladaLoader (used in the RobotWebTools, see RobotWebTools/ros3djs#202 ) do! (Since RViz doesn't respect the tag, this does not break the model)
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RViz doesn't respect it anyway ( ros-visualization/rviz#1045 ), but current versions of three.js' ColladaLoader (used in the RobotWebTools, see RobotWebTools/ros3djs#202 ) do! (Since RViz doesn't respect the tag, this does not break the model)
This was referenced Dec 12, 2017
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RViz doesn't respect it anyway ( ros-visualization/rviz#1045 ), but current versions of three.js' ColladaLoader (used in the RobotWebTools, see RobotWebTools/ros3djs#202 ) do! (Since RViz doesn't respect the tag, this does not break the model)
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Currently, metadata from Collada files such as the
<up_axis>
and<unit>
tags are ignored. This is done by ignoring the root transformation on imported models [1].While this avoids the problem of Assimp enforcing Y_UP orientation, it also undoes the effect of the
<unit>
tag. Additionally, there is the question if ignoring the<up_axis>
tag is correct behaviour in the first place.This came up at moveit/geometric_shapes#52, because currently
geometric_shapes
imports Collada meshes differently from rviz. That causes an undesirable mismatch between visualization and for example the meshes used for collision checking in moveit.@gavanderhoorn pointed out that the proposed fix there (which copies rviz behaviour) basically ignores parts of the Collada specification (the
<up_axis>
and<unit>
tags). However, Assimp does not provide the needed information right now to enforce a convention other thanY_UP
. It would require parsing the Collada file manually to retrieve the relevant metadata tag.geometric_shapes
should load models the same way rviz does to prevent mismatches with visualization. However, if the behaviour of rviz is going to change in the near future, it could make sense to delay changinggeometric_shapes
until after that happened.So, the real question: Should rviz respect
<unit>
and<up_axis>
tags in Collada files, and reorient meshes to Z_UP convention and scale them to meter units?[1]
rviz/src/rviz/mesh_loader.cpp
Line 232 in 0d423d6
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