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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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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);