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pybullet renderimage with projection matrix calculated using field of view

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This commit is contained in:
Mat Kelcey
2016-07-08 14:29:58 -07:00
parent e918e5a44e
commit 54979a0f89
3 changed files with 114 additions and 57 deletions
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133
examples/pybullet/pybullet.c
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@@ -975,6 +975,12 @@ static int pybullet_internalSetVector(PyObject* objMat, float vector[3])
// renderImage(w, h) - image resolution of (w,h), default camera
// renderImage(w, h, view[16], projection[16]) - set both resolution
// and initialize camera to the view and projection values
// renderImage(w, h, cameraPos, targetPos, cameraUp, nearVal, farVal) - set
// resolution and initialize camera based on camera position, target
// position, camera up and fulstrum near/far values.
// renderImage(w, h, cameraPos, targetPos, cameraUp, nearVal, farVal, fov) -
// set resolution and initialize camera based on camera position, target
// position, camera up, fulstrum near/far values and camera field of view.
//
// Note if the (w,h) is too small, the objects may not appear based on
// where the camera has been set
@@ -1000,8 +1006,7 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args)
float left, right, bottom, top, aspect;
float nearVal, farVal;
// float nearVal = .001;
// float farVal = 1000;
float fov;
// inialize cmd
b3SharedMemoryCommandHandle command;
@@ -1009,76 +1014,90 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args)
if (0==sm)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
command = b3InitRequestCameraImage(sm);
if (size==2) // only set camera resolution
{
if (PyArg_ParseTuple(args, "ii", &width, &height))
{
b3RequestCameraImageSetPixelResolution(command,width,height);
}
if (PyArg_ParseTuple(args, "ii", &width, &height))
{
b3RequestCameraImageSetPixelResolution(command,width,height);
}
}
if (size==4) // set camera resoluation and view and projection matrix
else if (size==4) // set camera resolution and view and projection matrix
{
if (PyArg_ParseTuple(args, "iiOO", &width, &height, &objViewMat, &objProjMat))
{
b3RequestCameraImageSetPixelResolution(command,width,height);
// set camera matrices only if set matrix function succeeds
if (pybullet_internalSetMatrix(objViewMat, viewMatrix) &&
(pybullet_internalSetMatrix(objProjMat, projectionMatrix)))
{
b3RequestCameraImageSetCameraMatrices(command, viewMatrix, projectionMatrix);
}
}
}
if (size==7) // set camera resoluation and view and projection matrix
{
if (PyArg_ParseTuple(args, "iiOOOii", &width, &height, &objCameraPos, &objTargetPos, &objCameraUp, &nearVal, &farVal))
{
b3RequestCameraImageSetPixelResolution(command,width,height);
if (pybullet_internalSetVector(objCameraPos, cameraPos) &&
pybullet_internalSetVector(objTargetPos, targetPos) &&
pybullet_internalSetVector(objCameraUp, cameraUp))
{
// printf("\ncamera pos:\n");
// for(int i =0;i<3; i++) {
// printf(" %f", cameraPos[i]);
// }
//
// printf("\ntargetPos pos:\n");
// for(int i =0;i<3; i++) {
// printf(" %f", targetPos[i]);
// }
//
// printf("\ncameraUp pos:\n");
// for(int i =0;i<3; i++) {
// printf(" %f", cameraUp[i]);
// }
// printf("\n");
b3RequestCameraImageSetViewMatrix(command, cameraPos, targetPos, cameraUp);
// printf("\n");
}
aspect = width/height;
left = -aspect * nearVal;
right = aspect * nearVal;
bottom = -nearVal;
top = nearVal;
b3RequestCameraImageSetProjectionMatrix(command, left, right, bottom, top, nearVal, farVal);
// printf("\n");
if (pybullet_internalSetMatrix(objViewMat, viewMatrix) &&
(pybullet_internalSetMatrix(objProjMat, projectionMatrix)))
{
b3RequestCameraImageSetCameraMatrices(command, viewMatrix, projectionMatrix);
}
else
{
PyErr_SetString(SpamError, "Error parsing view or projection matrix.");
return NULL;
}
}
}
else if (size==7) // set camera resolution, camera positions and calculate projection using near/far values.
{
if (PyArg_ParseTuple(args, "iiOOOff", &width, &height, &objCameraPos, &objTargetPos, &objCameraUp, &nearVal, &farVal))
{
b3RequestCameraImageSetPixelResolution(command,width,height);
if (pybullet_internalSetVector(objCameraPos, cameraPos) &&
pybullet_internalSetVector(objTargetPos, targetPos) &&
pybullet_internalSetVector(objCameraUp, cameraUp))
{
b3RequestCameraImageSetViewMatrix(command, cameraPos, targetPos, cameraUp);
}
else
{
PyErr_SetString(SpamError, "Error parsing camera position, target or up.");
return NULL;
}
aspect = width/height;
left = -aspect * nearVal;
right = aspect * nearVal;
bottom = -nearVal;
top = nearVal;
b3RequestCameraImageSetProjectionMatrix(command, left, right, bottom, top, nearVal, farVal);
}
}
else if (size==8) // set camera resolution, camera positions and calculate projection using near/far values & field of view
{
if (PyArg_ParseTuple(args, "iiOOOfff", &width, &height, &objCameraPos, &objTargetPos, &objCameraUp, &nearVal, &farVal, &fov))
{
b3RequestCameraImageSetPixelResolution(command,width,height);
if (pybullet_internalSetVector(objCameraPos, cameraPos) &&
pybullet_internalSetVector(objTargetPos, targetPos) &&
pybullet_internalSetVector(objCameraUp, cameraUp))
{
b3RequestCameraImageSetViewMatrix(command, cameraPos, targetPos, cameraUp);
}
else
{
PyErr_SetString(SpamError, "Error parsing camera position, target or up.");
return NULL;
}
aspect = width/height;
b3RequestCameraImageSetFOVProjectionMatrix(command, fov, aspect, nearVal, farVal);
}
}
else
{
PyErr_SetString(SpamError, "Invalid number of args passed to renderImage.");
return NULL;
}
if (b3CanSubmitCommand(sm))
{
b3SharedMemoryStatusHandle statusHandle;