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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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37
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -884,6 +884,43 @@ void b3RequestCameraImageSetProjectionMatrix(b3SharedMemoryCommandHandle command
command->m_updateFlags |= REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES; command->m_updateFlags |= REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES;
} }
void b3RequestCameraImageSetFOVProjectionMatrix(b3SharedMemoryCommandHandle commandHandle, float fov, float aspect, float nearVal, float farVal)
{
float yScale = 1.0 / tan((3.141592538 / 180.0) * fov / 2);
float xScale = yScale / aspect;
float frustum[16];
frustum[0*4+0] = xScale;
frustum[0*4+1] = float(0);
frustum[0*4+2] = float(0);
frustum[0*4+3] = float(0);
frustum[1*4+0] = float(0);
frustum[1*4+1] = yScale;
frustum[1*4+2] = float(0);
frustum[1*4+3] = float(0);
frustum[2*4+0] = 0;
frustum[2*4+1] = 0;
frustum[2*4+2] = (nearVal + farVal) / (nearVal - farVal);
frustum[2*4+3] = float(-1);
frustum[3*4+0] = float(0);
frustum[3*4+1] = float(0);
frustum[3*4+2] = (float(2) * farVal * nearVal) / (nearVal - farVal);
frustum[3*4+3] = float(0);
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CAMERA_IMAGE_DATA);
for (int i=0;i<16;i++)
{
command->m_requestPixelDataArguments.m_projectionMatrix[i] = frustum[i];
}
command->m_updateFlags |= REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES;
}
void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle commandHandle, int width, int height ) void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle commandHandle, int width, int height )
{ {
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;

1
examples/SharedMemory/PhysicsClientC_API.h
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@@ -72,6 +72,7 @@ b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physC
void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle command, float viewMatrix[16], float projectionMatrix[16]); void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle command, float viewMatrix[16], float projectionMatrix[16]);
void b3RequestCameraImageSetViewMatrix(b3SharedMemoryCommandHandle command, const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3]); void b3RequestCameraImageSetViewMatrix(b3SharedMemoryCommandHandle command, const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3]);
void b3RequestCameraImageSetProjectionMatrix(b3SharedMemoryCommandHandle command, float left, float right, float bottom, float top, float nearVal, float farVal); void b3RequestCameraImageSetProjectionMatrix(b3SharedMemoryCommandHandle command, float left, float right, float bottom, float top, float nearVal, float farVal);
void b3RequestCameraImageSetFOVProjectionMatrix(b3SharedMemoryCommandHandle command, float fov, float aspect, float nearVal, float farVal);
void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle command, int width, int height ); void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle command, int width, int height );
void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData); void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData);

129
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) - image resolution of (w,h), default camera
// renderImage(w, h, view[16], projection[16]) - set both resolution // renderImage(w, h, view[16], projection[16]) - set both resolution
// and initialize camera to the view and projection values // 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 // Note if the (w,h) is too small, the objects may not appear based on
// where the camera has been set // 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 left, right, bottom, top, aspect;
float nearVal, farVal; float nearVal, farVal;
// float nearVal = .001; float fov;
// float farVal = 1000;
// inialize cmd // inialize cmd
b3SharedMemoryCommandHandle command; b3SharedMemoryCommandHandle command;
@@ -1009,75 +1014,89 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args)
if (0==sm) if (0==sm)
{ {
PyErr_SetString(SpamError, "Not connected to physics server."); PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL; return NULL;
} }
command = b3InitRequestCameraImage(sm); command = b3InitRequestCameraImage(sm);
if (size==2) // only set camera resolution if (size==2) // only set camera resolution
{ {
if (PyArg_ParseTuple(args, "ii", &width, &height)) if (PyArg_ParseTuple(args, "ii", &width, &height))
{ {
b3RequestCameraImageSetPixelResolution(command,width,height); b3RequestCameraImageSetPixelResolution(command,width,height);
} }
} }
else if (size==4) // set camera resolution and view and projection matrix
if (size==4) // set camera resoluation and view and projection matrix
{ {
if (PyArg_ParseTuple(args, "iiOO", &width, &height, &objViewMat, &objProjMat)) if (PyArg_ParseTuple(args, "iiOO", &width, &height, &objViewMat, &objProjMat))
{ {
b3RequestCameraImageSetPixelResolution(command,width,height); b3RequestCameraImageSetPixelResolution(command,width,height);
// set camera matrices only if set matrix function succeeds // set camera matrices only if set matrix function succeeds
if (pybullet_internalSetMatrix(objViewMat, viewMatrix) && if (pybullet_internalSetMatrix(objViewMat, viewMatrix) &&
(pybullet_internalSetMatrix(objProjMat, projectionMatrix))) (pybullet_internalSetMatrix(objProjMat, projectionMatrix)))
{ {
b3RequestCameraImageSetCameraMatrices(command, viewMatrix, projectionMatrix); b3RequestCameraImageSetCameraMatrices(command, viewMatrix, projectionMatrix);
} }
} else
} {
PyErr_SetString(SpamError, "Error parsing view or projection matrix.");
if (size==7) // set camera resoluation and view and projection matrix return NULL;
{
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");
} }
} }
}
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)) if (b3CanSubmitCommand(sm))
{ {