Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

add pybullet getCameraImage, replacing renderImage, cleaner API:

Browse Source 
always pass in width, hight and viewMatrix, projectionMatrix, optionally lightDir
added helper methods computeViewMatrix, computeViewMatrixFromYawPitchRoll, computeProjectionMatrix, computeProjectionMatrixFOV
see Bullet/examples/pybullet/testrender.py + testrender_np.py for example use
add missing base_link.stl for husky.urdf
This commit is contained in:
erwincoumans
2016-11-17 15:15:52 -08:00
parent ee7a5a470f
commit 8c69fa13ca
11 changed files with 664 additions and 261 deletions
Download Patch File Download Diff File Expand all files Collapse all files

377
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -1232,209 +1232,244 @@ void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle commandHa
command->m_updateFlags |= REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES;
}
void b3RequestCameraImageSetLightDirection(b3SharedMemoryCommandHandle commandHandle, const float lightDirection[3])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CAMERA_IMAGE_DATA);
for (int i = 0; i<3; i++)
{
command->m_requestPixelDataArguments.m_lightDirection[i] = lightDirection[i];
}
command->m_updateFlags |= REQUEST_PIXEL_ARGS_SET_LIGHT_DIRECTION;
}
void b3ComputeViewMatrixFromPositions(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], float viewMatrix[16])
{
b3Vector3 eye = b3MakeVector3(cameraPosition[0], cameraPosition[1], cameraPosition[2]);
b3Vector3 center = b3MakeVector3(cameraTargetPosition[0], cameraTargetPosition[1], cameraTargetPosition[2]);
b3Vector3 up = b3MakeVector3(cameraUp[0], cameraUp[1], cameraUp[2]);
b3Vector3 f = (center - eye).normalized();
b3Vector3 u = up.normalized();
b3Vector3 s = (f.cross(u)).normalized();
u = s.cross(f);
viewMatrix[0 * 4 + 0] = s.x;
viewMatrix[1 * 4 + 0] = s.y;
viewMatrix[2 * 4 + 0] = s.z;
viewMatrix[0 * 4 + 1] = u.x;
viewMatrix[1 * 4 + 1] = u.y;
viewMatrix[2 * 4 + 1] = u.z;
viewMatrix[0 * 4 + 2] = -f.x;
viewMatrix[1 * 4 + 2] = -f.y;
viewMatrix[2 * 4 + 2] = -f.z;
viewMatrix[0 * 4 + 3] = 0.f;
viewMatrix[1 * 4 + 3] = 0.f;
viewMatrix[2 * 4 + 3] = 0.f;
viewMatrix[3 * 4 + 0] = -s.dot(eye);
viewMatrix[3 * 4 + 1] = -u.dot(eye);
viewMatrix[3 * 4 + 2] = f.dot(eye);
viewMatrix[3 * 4 + 3] = 1.f;
}
void b3ComputeViewMatrixFromYawPitchRoll(const float cameraTargetPosition[3], float distance, float yaw, float pitch, float roll, int upAxis, float viewMatrix[16])
{
b3Vector3 camUpVector;
b3Vector3 camForward;
b3Vector3 camPos;
b3Vector3 camTargetPos = b3MakeVector3(cameraTargetPosition[0], cameraTargetPosition[1], cameraTargetPosition[2]);
b3Vector3 eyePos = b3MakeVector3(0, 0, 0);
int forwardAxis(-1);
{
switch (upAxis)
{
case 1:
{
forwardAxis = 0;
eyePos[forwardAxis] = -distance;
camForward = b3MakeVector3(eyePos[0], eyePos[1], eyePos[2]);
if (camForward.length2() < B3_EPSILON)
{
camForward.setValue(1.f, 0.f, 0.f);
}
else
{
camForward.normalize();
}
b3Scalar rollRad = roll * b3Scalar(0.01745329251994329547);
b3Quaternion rollRot(camForward, rollRad);
camUpVector = b3QuatRotate(rollRot, b3MakeVector3(0, 1, 0));
//gLightPos = b3MakeVector3(-50.f,100,30);
break;
}
case 2:
{
forwardAxis = 1;
eyePos[forwardAxis] = -distance;
camForward = b3MakeVector3(eyePos[0], eyePos[1], eyePos[2]);
if (camForward.length2() < B3_EPSILON)
{
camForward.setValue(1.f, 0.f, 0.f);
}
else
{
camForward.normalize();
}
b3Scalar rollRad = roll * b3Scalar(0.01745329251994329547);
b3Quaternion rollRot(camForward, rollRad);
camUpVector = b3QuatRotate(rollRot, b3MakeVector3(0, 0, 1));
//gLightPos = b3MakeVector3(-50.f,30,100);
break;
}
default:
{
//b3Assert(0);
return;
}
};
}
b3Scalar yawRad = yaw * b3Scalar(0.01745329251994329547);// rads per deg
b3Scalar pitchRad = pitch * b3Scalar(0.01745329251994329547);// rads per deg
b3Quaternion pitchRot(camUpVector, pitchRad);
b3Vector3 right = camUpVector.cross(camForward);
b3Quaternion yawRot(right, -yawRad);
eyePos = b3Matrix3x3(pitchRot) * b3Matrix3x3(yawRot) * eyePos;
camPos = eyePos;
camPos += camTargetPos;
float camPosf[4] = { camPos[0],camPos[1],camPos[2],0 };
float camPosTargetf[4] = { camTargetPos[0],camTargetPos[1],camTargetPos[2],0 };
float camUpf[4] = { camUpVector[0],camUpVector[1],camUpVector[2],0 };
b3ComputeViewMatrixFromPositions(camPosf, camPosTargetf, camUpf,viewMatrix);
}
void b3ComputeProjectionMatrix(float left, float right, float bottom, float top, float nearVal, float farVal, float projectionMatrix[16])
{
projectionMatrix[0 * 4 + 0] = (float(2) * nearVal) / (right - left);
projectionMatrix[0 * 4 + 1] = float(0);
projectionMatrix[0 * 4 + 2] = float(0);
projectionMatrix[0 * 4 + 3] = float(0);
projectionMatrix[1 * 4 + 0] = float(0);
projectionMatrix[1 * 4 + 1] = (float(2) * nearVal) / (top - bottom);
projectionMatrix[1 * 4 + 2] = float(0);
projectionMatrix[1 * 4 + 3] = float(0);
projectionMatrix[2 * 4 + 0] = (right + left) / (right - left);
projectionMatrix[2 * 4 + 1] = (top + bottom) / (top - bottom);
projectionMatrix[2 * 4 + 2] = -(farVal + nearVal) / (farVal - nearVal);
projectionMatrix[2 * 4 + 3] = float(-1);
projectionMatrix[3 * 4 + 0] = float(0);
projectionMatrix[3 * 4 + 1] = float(0);
projectionMatrix[3 * 4 + 2] = -(float(2) * farVal * nearVal) / (farVal - nearVal);
projectionMatrix[3 * 4 + 3] = float(0);
}
void b3ComputeProjectionMatrixFOV(float fov, float aspect, float nearVal, float farVal, float projectionMatrix[16])
{
float yScale = 1.0 / tan((3.141592538 / 180.0) * fov / 2);
float xScale = yScale / aspect;
projectionMatrix[0 * 4 + 0] = xScale;
projectionMatrix[0 * 4 + 1] = float(0);
projectionMatrix[0 * 4 + 2] = float(0);
projectionMatrix[0 * 4 + 3] = float(0);
projectionMatrix[1 * 4 + 0] = float(0);
projectionMatrix[1 * 4 + 1] = yScale;
projectionMatrix[1 * 4 + 2] = float(0);
projectionMatrix[1 * 4 + 3] = float(0);
projectionMatrix[2 * 4 + 0] = 0;
projectionMatrix[2 * 4 + 1] = 0;
projectionMatrix[2 * 4 + 2] = (nearVal + farVal) / (nearVal - farVal);
projectionMatrix[2 * 4 + 3] = float(-1);
projectionMatrix[3 * 4 + 0] = float(0);
projectionMatrix[3 * 4 + 1] = float(0);
projectionMatrix[3 * 4 + 2] = (float(2) * farVal * nearVal) / (nearVal - farVal);
projectionMatrix[3 * 4 + 3] = float(0);
}
void b3RequestCameraImageSetViewMatrix2(b3SharedMemoryCommandHandle commandHandle, const float cameraTargetPosition[3], float distance, float yaw, float pitch, float roll, int upAxis)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CAMERA_IMAGE_DATA);
b3Vector3 camUpVector;
b3Vector3 camForward;
b3Vector3 camPos;
b3Vector3 camTargetPos = b3MakeVector3(cameraTargetPosition[0],cameraTargetPosition[1],cameraTargetPosition[2]);
b3Vector3 eyePos = b3MakeVector3(0,0,0);
int forwardAxis(-1);
{
switch (upAxis)
{
case 1:
{
forwardAxis = 0;
eyePos[forwardAxis] = -distance;
camForward = b3MakeVector3(eyePos[0],eyePos[1],eyePos[2]);
if (camForward.length2() < B3_EPSILON)
{
camForward.setValue(1.f,0.f,0.f);
} else
{
camForward.normalize();
}
b3Scalar rollRad = roll * b3Scalar(0.01745329251994329547);
b3Quaternion rollRot(camForward,rollRad);
camUpVector = b3QuatRotate(rollRot,b3MakeVector3(0,1,0));
//gLightPos = b3MakeVector3(-50.f,100,30);
break;
}
case 2:
{
forwardAxis = 1;
eyePos[forwardAxis] = -distance;
camForward = b3MakeVector3(eyePos[0],eyePos[1],eyePos[2]);
if (camForward.length2() < B3_EPSILON)
{
camForward.setValue(1.f,0.f,0.f);
} else
{
camForward.normalize();
}
b3Scalar rollRad = roll * b3Scalar(0.01745329251994329547);
b3Quaternion rollRot(camForward,rollRad);
camUpVector = b3QuatRotate(rollRot,b3MakeVector3(0,0,1));
//gLightPos = b3MakeVector3(-50.f,30,100);
break;
}
default:
{
//b3Assert(0);
return;
}
};
}
b3Scalar yawRad = yaw * b3Scalar(0.01745329251994329547);// rads per deg
b3Scalar pitchRad = pitch * b3Scalar(0.01745329251994329547);// rads per deg
b3Quaternion pitchRot(camUpVector,pitchRad);
b3Vector3 right = camUpVector.cross(camForward);
b3Quaternion yawRot(right,-yawRad);
eyePos = b3Matrix3x3(pitchRot) * b3Matrix3x3(yawRot) * eyePos;
camPos = eyePos;
camPos += camTargetPos;
float camPosf[4] = {camPos[0],camPos[1],camPos[2],0};
float camPosTargetf[4] = {camTargetPos[0],camTargetPos[1],camTargetPos[2],0};
float camUpf[4] = {camUpVector[0],camUpVector[1],camUpVector[2],0};
b3RequestCameraImageSetViewMatrix(commandHandle,camPosf,camPosTargetf,camUpf);
b3ComputeViewMatrixFromYawPitchRoll(cameraTargetPosition, distance, yaw, pitch, roll, upAxis, command->m_requestPixelDataArguments.m_viewMatrix);
command->m_updateFlags |= REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES;
}
void b3RequestCameraImageSetViewMatrix(b3SharedMemoryCommandHandle commandHandle, const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3])
{
b3Vector3 eye = b3MakeVector3(cameraPosition[0], cameraPosition[1], cameraPosition[2]);
b3Vector3 center = b3MakeVector3(cameraTargetPosition[0], cameraTargetPosition[1], cameraTargetPosition[2]);
b3Vector3 up = b3MakeVector3(cameraUp[0], cameraUp[1], cameraUp[2]);
b3Vector3 f = (center - eye).normalized();
b3Vector3 u = up.normalized();
b3Vector3 s = (f.cross(u)).normalized();
u = s.cross(f);
float viewMatrix[16];
viewMatrix[0*4+0] = s.x;
viewMatrix[1*4+0] = s.y;
viewMatrix[2*4+0] = s.z;
viewMatrix[0*4+1] = u.x;
viewMatrix[1*4+1] = u.y;
viewMatrix[2*4+1] = u.z;
viewMatrix[0*4+2] =-f.x;
viewMatrix[1*4+2] =-f.y;
viewMatrix[2*4+2] =-f.z;
viewMatrix[0*4+3] = 0.f;
viewMatrix[1*4+3] = 0.f;
viewMatrix[2*4+3] = 0.f;
viewMatrix[3*4+0] = -s.dot(eye);
viewMatrix[3*4+1] = -u.dot(eye);
viewMatrix[3*4+2] = f.dot(eye);
viewMatrix[3*4+3] = 1.f;
float viewMatrix[16];
b3ComputeViewMatrixFromPositions(cameraPosition, cameraTargetPosition, cameraUp, viewMatrix);
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_viewMatrix[i] = viewMatrix[i];
}
b3ComputeViewMatrixFromPositions(cameraPosition, cameraTargetPosition, cameraUp, command->m_requestPixelDataArguments.m_viewMatrix);
command->m_updateFlags |= REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES;
}
void b3RequestCameraImageSetProjectionMatrix(b3SharedMemoryCommandHandle commandHandle, float left, float right, float bottom, float top, float nearVal, float farVal)
{
float frustum[16];
frustum[0*4+0] = (float(2) * nearVal) / (right - left);
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] = (float(2) * nearVal) / (top - bottom);
frustum[1*4+2] = float(0);
frustum[1*4+3] = float(0);
frustum[2*4+0] = (right + left) / (right - left);
frustum[2*4+1] = (top + bottom) / (top - bottom);
frustum[2*4+2] = -(farVal + nearVal) / (farVal - nearVal);
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) / (farVal - nearVal);
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];
}
b3ComputeProjectionMatrix(left, right, bottom, top, nearVal, farVal, command->m_requestPixelDataArguments.m_projectionMatrix);
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];
}
b3ComputeProjectionMatrixFOV(fov, aspect, nearVal, farVal, command->m_requestPixelDataArguments.m_projectionMatrix);
command->m_updateFlags |= REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES;
}