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add segmentation mask rendering to TinyRenderer and shared memory API

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similar to the zbuffer, but storing the object index (int) instead of float depth
This commit is contained in:
Erwin Coumans
2016-08-11 14:55:30 -07:00
parent f416644481
commit 3c30e2f821
23 changed files with 276 additions and 55 deletions
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144
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -44,7 +44,9 @@ protected:
int m_selectedBody;
int m_prevSelectedBody;
struct Common2dCanvasInterface* m_canvas;
int m_canvasIndex;
int m_canvasRGBIndex;
int m_canvasDepthIndex;
int m_canvasSegMaskIndex;
void createButton(const char* name, int id, bool isTrigger );
@@ -248,7 +250,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
case CMD_LOAD_SDF:
{
b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "kuka_iiwa/model.sdf");
b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "two_cubes.sdf");//kuka_iiwa/model.sdf");
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
}
@@ -460,7 +462,11 @@ m_prevSelectedBody(-1),
m_numMotors(0),
m_options(options),
m_isOptionalServerConnected(false),
m_canvas(0)
m_canvas(0),
m_canvasRGBIndex(-1),
m_canvasDepthIndex(-1),
m_canvasSegMaskIndex(-1)
{
b3Printf("Started PhysicsClientExample\n");
}
@@ -479,9 +485,15 @@ PhysicsClientExample::~PhysicsClientExample()
m_physicsServer.disconnectSharedMemory(deInitializeSharedMemory);
}
if (m_canvas && (m_canvasIndex>=0))
if (m_canvas)
{
m_canvas->destroyCanvas(m_canvasIndex);
if (m_canvasRGBIndex>=0)
m_canvas->destroyCanvas(m_canvasRGBIndex);
if (m_canvasDepthIndex>=0)
m_canvas->destroyCanvas(m_canvasDepthIndex);
if (m_canvasSegMaskIndex>=0)
m_canvas->destroyCanvas(m_canvasSegMaskIndex);
}
b3Printf("~PhysicsClientExample\n");
}
@@ -613,9 +625,10 @@ void PhysicsClientExample::initPhysics()
m_canvas = m_guiHelper->get2dCanvasInterface();
if (m_canvas)
{
m_canvasIndex = m_canvas->createCanvas("Synthetic Camera",camVisualizerWidth, camVisualizerHeight);
m_canvasRGBIndex = m_canvas->createCanvas("Synthetic Camera RGB data",camVisualizerWidth, camVisualizerHeight);
m_canvasDepthIndex = m_canvas->createCanvas("Synthetic Camera Depth data",camVisualizerWidth, camVisualizerHeight);
m_canvasSegMaskIndex = m_canvas->createCanvas("Synthetic Camera Segmentation Mask",camVisualizerWidth, camVisualizerHeight);
for (int i=0;i<camVisualizerWidth;i++)
{
@@ -631,10 +644,16 @@ void PhysicsClientExample::initPhysics()
green=0;
blue=0;
}
m_canvas->setPixel(m_canvasIndex,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);
m_canvas->setPixel(m_canvasSegMaskIndex,i,j,red,green,blue,alpha);
}
}
m_canvas->refreshImageData(m_canvasIndex);
m_canvas->refreshImageData(m_canvasRGBIndex);
m_canvas->refreshImageData(m_canvasDepthIndex);
m_canvas->refreshImageData(m_canvasSegMaskIndex);
}
@@ -698,8 +717,36 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
// sprintf(msg,"Camera image %d OK\n",counter++);
b3CameraImageData imageData;
b3GetCameraImageData(m_physicsClientHandle,&imageData);
if (m_canvas && m_canvasIndex >=0)
if (m_canvas)
{
//compute depth image range
float minDepthValue = 1e20f;
float maxDepthValue = -1e20f;
for (int i=0;i<camVisualizerWidth;i++)
{
for (int j=0;j<camVisualizerHeight;j++)
{
int xIndex = int(float(i)*(float(imageData.m_pixelWidth)/float(camVisualizerWidth)));
int yIndex = int(float(j)*(float(imageData.m_pixelHeight)/float(camVisualizerHeight)));
btClamp(yIndex,0,imageData.m_pixelHeight);
btClamp(xIndex,0,imageData.m_pixelWidth);
if (m_canvasDepthIndex >=0)
{
int depthPixelIndex = (xIndex+yIndex*imageData.m_pixelWidth);
float depthValue = imageData.m_depthValues4[depthPixelIndex];
//todo: rescale the depthValue to [0..255]
if (depthValue>-1e20)
{
maxDepthValue = btMax(maxDepthValue,depthValue);
minDepthValue = btMin(minDepthValue,depthValue);
}
}
}
}
for (int i=0;i<camVisualizerWidth;i++)
{
for (int j=0;j<camVisualizerHeight;j++)
@@ -710,15 +757,76 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
btClamp(xIndex,0,imageData.m_pixelWidth);
int bytesPerPixel = 4; //RGBA
int pixelIndex = (xIndex+yIndex*imageData.m_pixelWidth)*bytesPerPixel;
m_canvas->setPixel(m_canvasIndex,i,j,
imageData.m_rgbColorData[pixelIndex],
imageData.m_rgbColorData[pixelIndex+1],
imageData.m_rgbColorData[pixelIndex+2],
255); //alpha set to 255
if (m_canvasRGBIndex >=0)
{
int rgbPixelIndex = (xIndex+yIndex*imageData.m_pixelWidth)*bytesPerPixel;
m_canvas->setPixel(m_canvasRGBIndex,i,j,
imageData.m_rgbColorData[rgbPixelIndex],
imageData.m_rgbColorData[rgbPixelIndex+1],
imageData.m_rgbColorData[rgbPixelIndex+2],
255); //alpha set to 255
}
if (m_canvasDepthIndex >=0)
{
int depthPixelIndex = (xIndex+yIndex*imageData.m_pixelWidth);
float depthValue = imageData.m_depthValues4[depthPixelIndex];
//todo: rescale the depthValue to [0..255]
if (depthValue>-1e20)
{
int rgb = (depthValue-minDepthValue)*(255. / (btFabs(maxDepthValue-minDepthValue)));
if (rgb<0 || rgb>255)
{
printf("rgb=%d\n",rgb);
}
m_canvas->setPixel(m_canvasDepthIndex,i,j,
rgb,
rgb,
255, 255); //alpha set to 255
} else
{
m_canvas->setPixel(m_canvasDepthIndex,i,j,
0,
0,
0, 255); //alpha set to 255
}
}
if (m_canvasSegMaskIndex>=0 && (0!=imageData.m_segmentationMaskValues))
{
int segmentationMaskPixelIndex = (xIndex+yIndex*imageData.m_pixelWidth);
int segmentationMask = imageData.m_segmentationMaskValues[segmentationMaskPixelIndex];
btVector4 palette[4] = {btVector4(32,255,32,255),
btVector4(32,32,255,255),
btVector4(255,255,32,255),
btVector4(32,255,255,255)};
if (segmentationMask>=0)
{
btVector4 rgb = palette[segmentationMask&3];
m_canvas->setPixel(m_canvasSegMaskIndex,i,j,
rgb.x(),
rgb.y(),
rgb.z(), 255); //alpha set to 255
} else
{
m_canvas->setPixel(m_canvasSegMaskIndex,i,j,
0,
0,
0, 255); //alpha set to 255
}
}
}
}
m_canvas->refreshImageData(m_canvasIndex);
if (m_canvasRGBIndex >=0)
m_canvas->refreshImageData(m_canvasRGBIndex);
if (m_canvasDepthIndex >=0)
m_canvas->refreshImageData(m_canvasDepthIndex);
if (m_canvasSegMaskIndex >=0)
m_canvas->refreshImageData(m_canvasSegMaskIndex);
}
// b3Printf(msg);

11
examples/SharedMemory/PhysicsClientSharedMemory.cpp
View File

@@ -36,6 +36,7 @@ struct PhysicsClientSharedMemoryInternalData {
int m_cachedCameraPixelsHeight;
btAlignedObjectArray<unsigned char> m_cachedCameraPixelsRGBA;
btAlignedObjectArray<float> m_cachedCameraDepthBuffer;
btAlignedObjectArray<int> m_cachedSegmentationMaskBuffer;
btAlignedObjectArray<int> m_bodyIdsRequestInfo;
SharedMemoryStatus m_tempBackupServerStatus;
@@ -514,6 +515,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
m_data->m_cachedCameraPixelsRGBA.reserve(numPixels*numBytesPerPixel);
m_data->m_cachedCameraDepthBuffer.resize(numTotalPixels);
m_data->m_cachedSegmentationMaskBuffer.resize(numTotalPixels);
m_data->m_cachedCameraPixelsRGBA.resize(numTotalPixels*numBytesPerPixel);
@@ -522,12 +524,18 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
// printf("pixel = %d\n", rgbaPixelsReceived[0]);
float* depthBuffer = (float*)&(m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[serverCmd.m_sendPixelDataArguments.m_numPixelsCopied*4]);
int* segmentationMaskBuffer = (int*)&(m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[serverCmd.m_sendPixelDataArguments.m_numPixelsCopied*8]);
for (int i=0;i<serverCmd.m_sendPixelDataArguments.m_numPixelsCopied;i++)
{
m_data->m_cachedCameraDepthBuffer[i + serverCmd.m_sendPixelDataArguments.m_startingPixelIndex] = depthBuffer[i];
}
for (int i=0;i<serverCmd.m_sendPixelDataArguments.m_numPixelsCopied;i++)
{
m_data->m_cachedSegmentationMaskBuffer[i + serverCmd.m_sendPixelDataArguments.m_startingPixelIndex] = segmentationMaskBuffer[i];
}
for (int i=0;i<serverCmd.m_sendPixelDataArguments.m_numPixelsCopied*numBytesPerPixel;i++)
{
m_data->m_cachedCameraPixelsRGBA[i + serverCmd.m_sendPixelDataArguments.m_startingPixelIndex*numBytesPerPixel]
@@ -704,8 +712,9 @@ void PhysicsClientSharedMemory::getCachedCameraImage(struct b3CameraImageData* c
{
cameraData->m_pixelWidth = m_data->m_cachedCameraPixelsWidth;
cameraData->m_pixelHeight = m_data->m_cachedCameraPixelsHeight;
cameraData->m_depthValues = m_data->m_cachedCameraDepthBuffer.size() ? &m_data->m_cachedCameraDepthBuffer[0] : 0;
cameraData->m_depthValues4 = m_data->m_cachedCameraDepthBuffer.size() ? &m_data->m_cachedCameraDepthBuffer[0] : 0;
cameraData->m_rgbColorData = m_data->m_cachedCameraPixelsRGBA.size() ? &m_data->m_cachedCameraPixelsRGBA[0] : 0;
cameraData->m_segmentationMaskValues = m_data->m_cachedSegmentationMaskBuffer.size()?&m_data->m_cachedSegmentationMaskBuffer[0] : 0;
}
const float* PhysicsClientSharedMemory::getDebugLinesFrom() const {

11
examples/SharedMemory/PhysicsDirect.cpp
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@@ -37,6 +37,8 @@ struct PhysicsDirectInternalData
int m_cachedCameraPixelsHeight;
btAlignedObjectArray<unsigned char> m_cachedCameraPixelsRGBA;
btAlignedObjectArray<float> m_cachedCameraDepthBuffer;
btAlignedObjectArray<int> m_cachedSegmentationMask;
PhysicsServerCommandProcessor* m_commandProcessor;
@@ -205,6 +207,7 @@ bool PhysicsDirect::processCamera(const struct SharedMemoryCommand& orgCommand)
m_data->m_cachedCameraPixelsRGBA.reserve(numPixels*numBytesPerPixel);
m_data->m_cachedCameraDepthBuffer.resize(numTotalPixels);
m_data->m_cachedSegmentationMask.resize(numTotalPixels);
m_data->m_cachedCameraPixelsRGBA.resize(numTotalPixels*numBytesPerPixel);
@@ -212,6 +215,7 @@ bool PhysicsDirect::processCamera(const struct SharedMemoryCommand& orgCommand)
(unsigned char*)&m_data->m_bulletStreamDataServerToClient[0];
float* depthBuffer = (float*)&(m_data->m_bulletStreamDataServerToClient[serverCmd.m_sendPixelDataArguments.m_numPixelsCopied*4]);
int* segmentationMaskBuffer = (int*)&(m_data->m_bulletStreamDataServerToClient[serverCmd.m_sendPixelDataArguments.m_numPixelsCopied*8]);
// printf("pixel = %d\n", rgbaPixelsReceived[0]);
@@ -219,6 +223,10 @@ bool PhysicsDirect::processCamera(const struct SharedMemoryCommand& orgCommand)
{
m_data->m_cachedCameraDepthBuffer[i + serverCmd.m_sendPixelDataArguments.m_startingPixelIndex] = depthBuffer[i];
}
for (int i=0;i<serverCmd.m_sendPixelDataArguments.m_numPixelsCopied;i++)
{
m_data->m_cachedSegmentationMask[i + serverCmd.m_sendPixelDataArguments.m_startingPixelIndex] = segmentationMaskBuffer[i];
}
for (int i=0;i<serverCmd.m_sendPixelDataArguments.m_numPixelsCopied*numBytesPerPixel;i++)
{
m_data->m_cachedCameraPixelsRGBA[i + serverCmd.m_sendPixelDataArguments.m_startingPixelIndex*numBytesPerPixel]
@@ -456,7 +464,8 @@ void PhysicsDirect::getCachedCameraImage(b3CameraImageData* cameraData)
{
cameraData->m_pixelWidth = m_data->m_cachedCameraPixelsWidth;
cameraData->m_pixelHeight = m_data->m_cachedCameraPixelsHeight;
cameraData->m_depthValues = m_data->m_cachedCameraDepthBuffer.size() ? &m_data->m_cachedCameraDepthBuffer[0] : 0;
cameraData->m_depthValues4 = m_data->m_cachedCameraDepthBuffer.size() ? &m_data->m_cachedCameraDepthBuffer[0] : 0;
cameraData->m_rgbColorData = m_data->m_cachedCameraPixelsRGBA.size() ? &m_data->m_cachedCameraPixelsRGBA[0] : 0;
cameraData->m_segmentationMaskValues = m_data->m_cachedSegmentationMask.size()? &m_data->m_cachedSegmentationMask[0] : 0;
}
}

18
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -751,7 +751,7 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
int bodyUniqueId = m_data->allocHandle();
InternalBodyHandle* bodyHandle = m_data->getHandle(bodyUniqueId);
u2b.setBodyUniqueId(bodyUniqueId);
{
btScalar mass = 0;
bodyHandle->m_rootLocalInertialFrame.setIdentity();
@@ -845,6 +845,7 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
if (bodyUniqueIdPtr)
*bodyUniqueIdPtr= bodyUniqueId;
u2b.setBodyUniqueId(bodyUniqueId);
InternalBodyHandle* bodyHandle = m_data->getHandle(bodyUniqueId);
{
@@ -1165,15 +1166,21 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
if (numRemainingPixels>0)
{
int maxNumPixels = bufferSizeInBytes/8-1;
int totalBytesPerPixel = 4+4+4;//4 for rgb, 4 for depth, 4 for segmentation mask
int maxNumPixels = bufferSizeInBytes/totalBytesPerPixel-1;
unsigned char* pixelRGBA = (unsigned char*)bufferServerToClient;
int numRequestedPixels = btMin(maxNumPixels,numRemainingPixels);
float* depthBuffer = (float*)(bufferServerToClient+numRequestedPixels*4);
int* segmentationMaskBuffer = (int*)(bufferServerToClient+numRequestedPixels*8);
if ((clientCmd.m_updateFlags & ER_BULLET_HARDWARE_OPENGL)!=0)
{
m_data->m_guiHelper->copyCameraImageData(clientCmd.m_requestPixelDataArguments.m_viewMatrix,clientCmd.m_requestPixelDataArguments.m_projectionMatrix,pixelRGBA,numRequestedPixels,depthBuffer,numRequestedPixels,startPixelIndex,width,height,&numPixelsCopied);
m_data->m_guiHelper->copyCameraImageData(clientCmd.m_requestPixelDataArguments.m_viewMatrix,
clientCmd.m_requestPixelDataArguments.m_projectionMatrix,pixelRGBA,numRequestedPixels,
depthBuffer,numRequestedPixels,
segmentationMaskBuffer, numRequestedPixels,
startPixelIndex,width,height,&numPixelsCopied);
} else
{
@@ -1194,7 +1201,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
m_data->m_visualConverter.copyCameraImageData(pixelRGBA,numRequestedPixels,depthBuffer,numRequestedPixels,startPixelIndex,&width,&height,&numPixelsCopied);
m_data->m_visualConverter.copyCameraImageData(pixelRGBA,numRequestedPixels,
depthBuffer,numRequestedPixels,
segmentationMaskBuffer, numRequestedPixels,
startPixelIndex,&width,&height,&numPixelsCopied);
}
//each pixel takes 4 RGBA values and 1 float = 8 bytes

13
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -400,12 +400,19 @@ public:
int m_rgbaBufferSizeInPixels;
float* m_depthBuffer;
int m_depthBufferSizeInPixels;
int* m_segmentationMaskBuffer;
int m_segmentationMaskBufferSizeInPixels;
int m_startPixelIndex;
int m_destinationWidth;
int m_destinationHeight;
int* m_numPixelsCopied;
virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16], unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int destinationWidth, int destinationHeight, int* numPixelsCopied)
virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
float* depthBuffer, int depthBufferSizeInPixels,
int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
int startPixelIndex, int destinationWidth,
int destinationHeight, int* numPixelsCopied)
{
m_cs->lock();
for (int i=0;i<16;i++)
@@ -417,6 +424,8 @@ public:
m_rgbaBufferSizeInPixels = rgbaBufferSizeInPixels;
m_depthBuffer = depthBuffer;
m_depthBufferSizeInPixels = depthBufferSizeInPixels;
m_segmentationMaskBuffer = segmentationMaskBuffer;
m_segmentationMaskBufferSizeInPixels = segmentationMaskBufferSizeInPixels;
m_startPixelIndex = startPixelIndex;
m_destinationWidth = destinationWidth;
m_destinationHeight = destinationHeight;
@@ -768,6 +777,8 @@ void PhysicsServerExample::stepSimulation(float deltaTime)
m_multiThreadedHelper->m_rgbaBufferSizeInPixels,
m_multiThreadedHelper->m_depthBuffer,
m_multiThreadedHelper->m_depthBufferSizeInPixels,
m_multiThreadedHelper->m_segmentationMaskBuffer,
m_multiThreadedHelper->m_segmentationMaskBufferSizeInPixels,
m_multiThreadedHelper->m_startPixelIndex,
m_multiThreadedHelper->m_destinationWidth,
m_multiThreadedHelper->m_destinationHeight,

3
examples/SharedMemory/SharedMemoryPublic.h
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@@ -122,7 +122,8 @@ struct b3CameraImageData
int m_pixelWidth;
int m_pixelHeight;
const unsigned char* m_rgbColorData;//3*m_pixelWidth*m_pixelHeight bytes
const float* m_depthValues;//m_pixelWidth*m_pixelHeight floats
const float* m_depthValues4;//m_pixelWidth*m_pixelHeight floats
const int* m_segmentationMaskValues;//m_pixelWidth*m_pixelHeight ints
};
///b3LinkState provides extra information such as the Cartesian world coordinates

23
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
View File

@@ -66,6 +66,8 @@ struct TinyRendererVisualShapeConverterInternalData
int m_swHeight;
TGAImage m_rgbColorBuffer;
b3AlignedObjectArray<float> m_depthBuffer;
b3AlignedObjectArray<int> m_segmentationMaskBuffer;
SimpleCamera m_camera;
TinyRendererVisualShapeConverterInternalData()
@@ -75,6 +77,7 @@ struct TinyRendererVisualShapeConverterInternalData
m_rgbColorBuffer(START_WIDTH,START_HEIGHT,TGAImage::RGB)
{
m_depthBuffer.resize(m_swWidth*m_swHeight);
m_segmentationMaskBuffer.resize(m_swWidth*m_swHeight,-1);
}
};
@@ -440,7 +443,7 @@ void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPref
void TinyRendererVisualShapeConverter::convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfModel& model, class btCollisionObject* colObj)
void TinyRendererVisualShapeConverter::convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfModel& model, class btCollisionObject* colObj, int objectIndex)
{
@@ -487,7 +490,7 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(int linkIndex, const
if (vertices.size() && indices.size())
{
TinyRenderObjectData* tinyObj = new TinyRenderObjectData(m_data->m_rgbColorBuffer,m_data->m_depthBuffer);
TinyRenderObjectData* tinyObj = new TinyRenderObjectData(m_data->m_rgbColorBuffer,m_data->m_depthBuffer, m_data->m_segmentationMaskBuffer, objectIndex,0);
unsigned char* textureImage=0;
int textureWidth=0;
int textureHeight=0;
@@ -535,6 +538,7 @@ void TinyRendererVisualShapeConverter::clearBuffers(TGAColor& clearColor)
{
m_data->m_rgbColorBuffer.set(x,y,clearColor);
m_data->m_depthBuffer[x+y*m_data->m_swWidth] = -1e30f;
m_data->m_segmentationMaskBuffer[x+y*m_data->m_swWidth] = -1;
}
}
@@ -624,7 +628,7 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo
// printf("flipped!\n");
m_data->m_rgbColorBuffer.flip_vertically();
//flip z-buffer
//flip z-buffer and segmentation Buffer
{
int half = m_data->m_swHeight>>1;
for (int j=0; j<half; j++)
@@ -634,6 +638,7 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo
for (int i=0;i<m_data->m_swWidth;i++)
{
btSwap(m_data->m_depthBuffer[l1+i],m_data->m_depthBuffer[l2+i]);
btSwap(m_data->m_segmentationMaskBuffer[l1+i],m_data->m_segmentationMaskBuffer[l2+i]);
}
}
}
@@ -652,11 +657,16 @@ void TinyRendererVisualShapeConverter::setWidthAndHeight(int width, int height)
m_data->m_swHeight = height;
m_data->m_depthBuffer.resize(m_data->m_swWidth*m_data->m_swHeight);
m_data->m_segmentationMaskBuffer.resize(m_data->m_swWidth*m_data->m_swHeight);
m_data->m_rgbColorBuffer = TGAImage(width, height, TGAImage::RGB);
}
void TinyRendererVisualShapeConverter::copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied)
void TinyRendererVisualShapeConverter::copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
float* depthBuffer, int depthBufferSizeInPixels,
int* segmentationMaskBuffer, int segmentationMaskSizeInPixels,
int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied)
{
int w = m_data->m_rgbColorBuffer.get_width();
int h = m_data->m_rgbColorBuffer.get_height();
@@ -682,6 +692,11 @@ void TinyRendererVisualShapeConverter::copyCameraImageData(unsigned char* pixels
{
depthBuffer[i] = m_data->m_depthBuffer[i+startPixelIndex];
}
if (segmentationMaskBuffer)
{
segmentationMaskBuffer[i] = m_data->m_segmentationMaskBuffer[i+startPixelIndex];
}
if (pixelsRGBA)
{
pixelsRGBA[i*numBytesPerPixel] = m_data->m_rgbColorBuffer.buffer()[(i+startPixelIndex)*3+0];

4
examples/SharedMemory/TinyRendererVisualShapeConverter.h
View File

@@ -13,7 +13,7 @@ struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter
virtual ~TinyRendererVisualShapeConverter();
virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfModel& model, class btCollisionObject* colShape);
virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfModel& model, class btCollisionObject* colShape, int objectIndex);
void setUpAxis(int axis);
@@ -26,7 +26,7 @@ struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter
void getWidthAndHeight(int& width, int& height);
void setWidthAndHeight(int width, int height);
void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied);
void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels,int* segmentationMaskBuffer, int segmentationMaskSizeInPixels, int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied);
void render();
void render(const float viewMat[16], const float projMat[16]);