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add segmask_linkindex.py example using p.getCameraImage(320,200,flags=p.ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX)

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to extract object unique id and link index from segmentation mask in getCameraImage
This commit is contained in:
Erwin Coumans
2017-12-28 12:37:07 -08:00
parent afd1066c50
commit 5517cbc4e0
14 changed files with 120 additions and 32 deletions
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14
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -2940,6 +2940,20 @@ B3_SHARED_API void b3RequestCameraImageSelectRenderer(b3SharedMemoryCommandHandl
}
}
B3_SHARED_API void b3RequestCameraImageSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CAMERA_IMAGE_DATA);
if(command->m_type == CMD_REQUEST_CAMERA_IMAGE_DATA)
{
command->m_requestPixelDataArguments.m_flags = flags;
command->m_updateFlags |= REQUEST_PIXEL_ARGS_HAS_FLAGS;
}
}
B3_SHARED_API void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle commandHandle, float viewMatrix[16], float projectionMatrix[16])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;

3
examples/SharedMemory/PhysicsClientC_API.h
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@@ -209,6 +209,9 @@ B3_SHARED_API void b3RequestCameraImageSetLightDiffuseCoeff(b3SharedMemoryComman
B3_SHARED_API void b3RequestCameraImageSetLightSpecularCoeff(b3SharedMemoryCommandHandle commandHandle, float lightSpecularCoeff);
B3_SHARED_API void b3RequestCameraImageSetShadow(b3SharedMemoryCommandHandle commandHandle, int hasShadow);
B3_SHARED_API void b3RequestCameraImageSelectRenderer(b3SharedMemoryCommandHandle commandHandle, int renderer);
B3_SHARED_API void b3RequestCameraImageSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags);
B3_SHARED_API void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData);
///compute a view matrix, helper function for b3RequestCameraImageSetCameraMatrices

2
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -940,7 +940,7 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
btVector4(32,255,255,255)};
if (segmentationMask>=0)
{
int obIndex = segmentationMask&(0x1e24-1);
int obIndex = segmentationMask&((1<<24)-1);
int linkIndex = (segmentationMask>>24)-1;
btVector4 rgb = palette[(obIndex+linkIndex)&3];

7
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -3017,7 +3017,12 @@ bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struc
m_data->m_visualConverter.setWidthAndHeight(clientCmd.m_requestPixelDataArguments.m_pixelWidth,
clientCmd.m_requestPixelDataArguments.m_pixelHeight);
}
int flags = 0;
if (clientCmd.m_updateFlags&REQUEST_PIXEL_ARGS_HAS_FLAGS)
{
flags = clientCmd.m_requestPixelDataArguments.m_flags;
}
m_data->m_visualConverter.setFlags(flags);
int numTotalPixels = width*height;
int numRemainingPixels = numTotalPixels - startPixelIndex;

2
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -2169,7 +2169,7 @@ void PhysicsServerExample::updateGraphics()
btVector4(32,255,255,255)};
if (segmentationMask>=0)
{
int obIndex = segmentationMask&(0x1e24-1);
int obIndex = segmentationMask&((1<<24)-1);
int linkIndex = (segmentationMask>>24)-1;
btVector4 rgb = palette[(obIndex+linkIndex)&3];

3
examples/SharedMemory/SharedMemoryCommands.h
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@@ -238,6 +238,7 @@ struct RequestPixelDataArgs
float m_lightDiffuseCoeff;
float m_lightSpecularCoeff;
int m_hasShadow;
int m_flags;
};
enum EnumRequestPixelDataUpdateFlags
@@ -251,6 +252,8 @@ enum EnumRequestPixelDataUpdateFlags
REQUEST_PIXEL_ARGS_SET_AMBIENT_COEFF=64,
REQUEST_PIXEL_ARGS_SET_DIFFUSE_COEFF=128,
REQUEST_PIXEL_ARGS_SET_SPECULAR_COEFF=256,
REQUEST_PIXEL_ARGS_HAS_FLAGS = 512,
//don't exceed (1<<15), because this enum is shared with EnumRenderer in SharedMemoryPublic.h
};

4
examples/SharedMemory/SharedMemoryPublic.h
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@@ -584,6 +584,10 @@ enum EnumRenderer
//ER_FIRE_RAYS=(1<<18),
};
enum EnumRendererAuxFlags
{
ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX=1,
};
///flags to pick the IK solver and other options
enum EnumCalculateInverseKinematicsFlags
{

21
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
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@@ -82,6 +82,7 @@ struct TinyRendererVisualShapeConverterInternalData
float m_lightSpecularCoeff;
bool m_hasLightSpecularCoeff;
bool m_hasShadow;
int m_flags;
SimpleCamera m_camera;
@@ -102,7 +103,8 @@ struct TinyRendererVisualShapeConverterInternalData
m_hasLightDiffuseCoeff(false),
m_lightSpecularCoeff(0.05),
m_hasLightSpecularCoeff(false),
m_hasShadow(false)
m_hasShadow(false),
m_flags(0)
{
m_depthBuffer.resize(m_swWidth*m_swHeight);
m_shadowBuffer.resize(m_swWidth*m_swHeight);
@@ -154,6 +156,11 @@ void TinyRendererVisualShapeConverter::setShadow(bool hasShadow)
{
m_data->m_hasShadow = hasShadow;
}
void TinyRendererVisualShapeConverter::setFlags(int flags)
{
m_data->m_flags = flags;
}
void TinyRendererVisualShapeConverter::setLightAmbientCoeff(float ambientCoeff)
{
@@ -1043,7 +1050,17 @@ void TinyRendererVisualShapeConverter::copyCameraImageData(unsigned char* pixels
}
if (segmentationMaskBuffer)
{
segmentationMaskBuffer[i] = m_data->m_segmentationMaskBuffer[i+startPixelIndex];
int segMask = m_data->m_segmentationMaskBuffer[i + startPixelIndex];
if ((m_data->m_flags & ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX)==0)
{
//if we don't explicitly request link index, clear it out
//object index are the lower 24bits
if (segMask >= 0)
{
segMask &= ((1 << 24) - 1);
}
}
segmentationMaskBuffer[i] = segMask;
}
if (pixelsRGBA)

1
examples/SharedMemory/TinyRendererVisualShapeConverter.h
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@@ -43,6 +43,7 @@ struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter
void setLightDiffuseCoeff(float diffuseCoeff);
void setLightSpecularCoeff(float specularCoeff);
void setShadow(bool hasShadow);
void setFlags(int flags);
void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels,int* segmentationMaskBuffer, int segmentationMaskSizeInPixels, int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied);

4
examples/TinyRenderer/TinyRenderer.cpp
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@@ -562,12 +562,12 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
{
for (int t=0;t<clippedTriangles.size();t++)
{
triangleClipped(clippedTriangles[t], shader.varying_tri, shader, frame, &zbuffer[0], segmentationMaskBufferPtr, renderData.m_viewportMatrix, renderData.m_objectIndex+((renderData.m_linkIndex+1)<<24));
triangleClipped(clippedTriangles[t], shader.varying_tri, shader, frame, &zbuffer[0], segmentationMaskBufferPtr, renderData.m_viewportMatrix, renderData.m_objectIndex+((renderData.m_linkIndex + 1) << 24));
}
}
else
{
triangle(shader.varying_tri, shader, frame, &zbuffer[0], segmentationMaskBufferPtr, renderData.m_viewportMatrix, renderData.m_objectIndex+((renderData.m_linkIndex+1)<<24));
triangle(shader.varying_tri, shader, frame, &zbuffer[0], segmentationMaskBufferPtr, renderData.m_viewportMatrix, renderData.m_objectIndex+((renderData.m_linkIndex + 1) << 24));
}
}
}

9
examples/TinyRenderer/our_gl.cpp
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@@ -189,14 +189,7 @@ void triangle(mat<4,3,float> &clipc, IShader &shader, TGAImage &image, float *zb
zbuffer[P.x+P.y*image.get_width()] = frag_depth;
if (segmentationMaskBuffer)
{
if (objectAndLinkIndex)
{
segmentationMaskBuffer[P.x+P.y*image.get_width()] = objectAndLinkIndex;
} else
{
segmentationMaskBuffer[P.x+P.y*image.get_width()] = 0;
}
segmentationMaskBuffer[P.x+P.y*image.get_width()] = objectAndLinkIndex;
}
image.set(P.x, P.y, color);
}

27
examples/pybullet/examples/saveRestoreState.py
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@@ -9,21 +9,22 @@ for i in range (10):
p.setGravity(0,0,-10)
for i in range (500):
p.stepSimulation()
#for i in range (500):
# p.stepSimulation()
saveState = 1
if saveState:
for i in range (500):
p.stepSimulation()
p.saveBullet("state.bullet")
else:
p.restoreState(fileName="state.bullet")
for i in range (10):
print("pos[",i,"]=",p.getBasePositionAndOrientation(i))
#saveState = 0
#if saveState:
# for i in range (500):
# p.stepSimulation()
# p.saveBullet("state.bullet")
#else:
# p.restoreState(fileName="state.bullet")
while (p.getConnectionInfo()["isConnected"]):
time.sleep(1)

42
examples/pybullet/examples/segmask_linkindex.py Normal file
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@@ -0,0 +1,42 @@
import pybullet as p
p.connect(p.GUI)
r2d2 = p.loadURDF("r2d2.urdf",[0,0,1])
for l in range (p.getNumJoints(r2d2)):
print(p.getJointInfo(r2d2,l))
p.loadURDF("r2d2.urdf",[2,0,1])
p.loadURDF("r2d2.urdf",[4,0,1])
p.getCameraImage(320,200,flags=p.ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX)
segLinkIndex=1
verbose = 0
while (1):
keys = p.getKeyboardEvents()
#for k in keys:
# print("key=",k,"state=", keys[k])
if ord('1') in keys:
state = keys[ord('1')]
if (state & p.KEY_WAS_RELEASED):
verbose = 1-verbose
if ord('s') in keys:
state = keys[ord('s')]
if (state & p.KEY_WAS_RELEASED):
segLinkIndex = 1-segLinkIndex
#print("segLinkIndex=",segLinkIndex)
flags = 0
if (segLinkIndex):
flags=p.ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX
img = p.getCameraImage(320,200,flags=flags)
#print(img[0],img[1])
seg=img[4]
if (verbose):
for pixel in seg:
if (pixel>=0):
obUid = pixel & ((1<<24)-1)
linkIndex = (pixel >> 24)-1
print("obUid=",obUid,"linkIndex=",linkIndex)
p.stepSimulation()

13
examples/pybullet/pybullet.c
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@@ -6046,16 +6046,16 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
float lightAmbientCoeff = -1;
float lightDiffuseCoeff = -1;
float lightSpecularCoeff = -1;
int flags = -1;
int renderer = -1;
// inialize cmd
b3SharedMemoryCommandHandle command;
int physicsClientId = 0;
b3PhysicsClientHandle sm = 0;
// set camera resolution, optionally view, projection matrix, light direction, light color, light distance, shadow
static char* kwlist[] = {"width", "height", "viewMatrix", "projectionMatrix", "lightDirection", "lightColor", "lightDistance", "shadow", "lightAmbientCoeff", "lightDiffuseCoeff", "lightSpecularCoeff", "renderer", "physicsClientId", NULL};
static char* kwlist[] = {"width", "height", "viewMatrix", "projectionMatrix", "lightDirection", "lightColor", "lightDistance", "shadow", "lightAmbientCoeff", "lightDiffuseCoeff", "lightSpecularCoeff", "renderer", "flags", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|OOOOfifffii", kwlist, &width, &height, &objViewMat, &objProjMat, &lightDirObj, &lightColorObj, &lightDist, &hasShadow, &lightAmbientCoeff, &lightDiffuseCoeff, &lightSpecularCoeff, &renderer, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|OOOOfifffiii", kwlist, &width, &height, &objViewMat, &objProjMat, &lightDirObj, &lightColorObj, &lightDist, &hasShadow, &lightAmbientCoeff, &lightDiffuseCoeff, &lightSpecularCoeff, &renderer, &flags, &physicsClientId))
{
return NULL;
}
@@ -6107,6 +6107,10 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
b3RequestCameraImageSetLightSpecularCoeff(command, lightSpecularCoeff);
}
if (flags >= 0)
{
b3RequestCameraImageSetFlags(command, flags);
}
if (renderer>=0)
{
b3RequestCameraImageSelectRenderer(command, renderer);//renderer could be ER_BULLET_HARDWARE_OPENGL
@@ -8365,7 +8369,8 @@ initpybullet(void)
PyModule_AddIntConstant(m, "ER_TINY_RENDERER", ER_TINY_RENDERER);
PyModule_AddIntConstant(m, "ER_BULLET_HARDWARE_OPENGL", ER_BULLET_HARDWARE_OPENGL);
PyModule_AddIntConstant(m, "ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX", ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX);
PyModule_AddIntConstant(m, "IK_DLS", IK_DLS);
PyModule_AddIntConstant(m, "IK_SDLS", IK_SDLS);
PyModule_AddIntConstant(m, "IK_HAS_TARGET_POSITION", IK_HAS_TARGET_POSITION);