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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);