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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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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