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

to extract object unique id and link index from segmentation mask in getCameraImage

examples/pybullet/examples/saveRestoreState.py

@@ -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)

examples/pybullet/examples/segmask_linkindex.py

@@ -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()