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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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27
examples/pybullet/examples/saveRestoreState.py
View File

@@ -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
View File

@@ -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
View File

@@ -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);