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only show debug camera RGB pixels by default

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This commit is contained in:
Erwin Coumans
2017-06-13 14:07:58 -07:00
parent d17faddff2
commit 0958e8f473
1 changed files with 12 additions and 7 deletions
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19
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -1638,8 +1638,8 @@ void PhysicsServerExample::initPhysics()
m_canvasRGBIndex = m_canvas->createCanvas("Synthetic Camera RGB data",gCamVisualizerWidth, gCamVisualizerHeight); m_canvasRGBIndex = m_canvas->createCanvas("Synthetic Camera RGB data",gCamVisualizerWidth, gCamVisualizerHeight);
m_canvasDepthIndex = m_canvas->createCanvas("Synthetic Camera Depth 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_canvasSegMaskIndex = m_canvas->createCanvas("Synthetic Camera Segmentation Mask",gCamVisualizerWidth, gCamVisualizerHeight);
for (int i=0;i<gCamVisualizerWidth;i++) for (int i=0;i<gCamVisualizerWidth;i++)
{ {
@@ -1656,14 +1656,19 @@ void PhysicsServerExample::initPhysics()
blue=0; blue=0;
} }
m_canvas->setPixel(m_canvasRGBIndex,i,j,red,green,blue,alpha); m_canvas->setPixel(m_canvasRGBIndex,i,j,red,green,blue,alpha);
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->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_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) if (depthValue>-1e20)
{ {
int rgb = 0; int rgb = 0;
btScalar minDepthValue = 0.96; btScalar minDepthValue = 0.98;//todo: compute more reasonably min/max depth range
btScalar maxDepthValue = 1; btScalar maxDepthValue = 1;
if (maxDepthValue!=minDepthValue) if (maxDepthValue!=minDepthValue)