From 0958e8f47371a325c1bb76f0c85e409aaeb20b19 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Tue, 13 Jun 2017 14:07:58 -0700 Subject: [PATCH] only show debug camera RGB pixels by default --- .../SharedMemory/PhysicsServerExample.cpp | 19 ++++++++++++------- 1 file changed, 12 insertions(+), 7 deletions(-) diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp index 0911fbb30..70d22b648 100644 --- a/examples/SharedMemory/PhysicsServerExample.cpp +++ b/examples/SharedMemory/PhysicsServerExample.cpp @@ -1638,8 +1638,8 @@ void PhysicsServerExample::initPhysics() m_canvasRGBIndex = m_canvas->createCanvas("Synthetic Camera RGB data",gCamVisualizerWidth, gCamVisualizerHeight); - m_canvasDepthIndex = m_canvas->createCanvas("Synthetic Camera Depth data",gCamVisualizerWidth, gCamVisualizerHeight); - m_canvasSegMaskIndex = m_canvas->createCanvas("Synthetic Camera Segmentation Mask",gCamVisualizerWidth, gCamVisualizerHeight); + //m_canvasDepthIndex = m_canvas->createCanvas("Synthetic Camera Depth data",gCamVisualizerWidth, gCamVisualizerHeight); + //m_canvasSegMaskIndex = m_canvas->createCanvas("Synthetic Camera Segmentation Mask",gCamVisualizerWidth, gCamVisualizerHeight); for (int i=0;isetPixel(m_canvasRGBIndex,i,j,red,green,blue,alpha); - m_canvas->setPixel(m_canvasDepthIndex,i,j,red,green,blue,alpha); - m_canvas->setPixel(m_canvasSegMaskIndex,i,j,red,green,blue,alpha); + if (m_canvasSegMaskIndex>=0) + m_canvas->setPixel(m_canvasDepthIndex,i,j,red,green,blue,alpha); + if (m_canvasSegMaskIndex>=0) + m_canvas->setPixel(m_canvasSegMaskIndex,i,j,red,green,blue,alpha); } } m_canvas->refreshImageData(m_canvasRGBIndex); - m_canvas->refreshImageData(m_canvasDepthIndex); - m_canvas->refreshImageData(m_canvasSegMaskIndex); + + if (m_canvasDepthIndex>=0) + m_canvas->refreshImageData(m_canvasDepthIndex); + if (m_canvasSegMaskIndex>=0) + m_canvas->refreshImageData(m_canvasSegMaskIndex); } @@ -1899,7 +1904,7 @@ void PhysicsServerExample::updateGraphics() if (depthValue>-1e20) { int rgb = 0; - btScalar minDepthValue = 0.96; + btScalar minDepthValue = 0.98;//todo: compute more reasonably min/max depth range btScalar maxDepthValue = 1; if (maxDepthValue!=minDepthValue)