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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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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;
}
}