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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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This commit is contained in:
Erwin Coumans
2018-10-05 19:41:10 -07:00
parent 8a0d96edce 9a7cc7bcd7
commit 90f002e07d
5 changed files with 148 additions and 3 deletions
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3
examples/Importers/ImportURDFDemo/UrdfRenderingInterface.h
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@@ -91,6 +91,9 @@ struct UrdfRenderingInterface
///register a texture using an in-memory pixel buffer of a given width and height
virtual int registerTexture(unsigned char* texels, int width, int height) = 0;
virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16]) {}
virtual void setProjectiveTexture(bool useProjectiveTexture) {}
};
#endif //LINK_VISUAL_SHAPES_CONVERTER_H

28
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -3645,10 +3645,38 @@ bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struc
if (m_data->m_pluginManager.getRenderInterface())
{
if ((flags & ER_USE_PROJECTIVE_TEXTURE) != 0)
{
m_data->m_pluginManager.getRenderInterface()->setProjectiveTexture(true);
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_HAS_PROJECTIVE_TEXTURE_MATRICES) != 0)
{
for (int i = 0; i < 16; i++)
{
projTextureViewMat[i] = clientCmd.m_requestPixelDataArguments.m_projectiveTextureViewMatrix[i];
projTextureProjMat[i] = clientCmd.m_requestPixelDataArguments.m_projectiveTextureProjectionMatrix[i];
}
}
else // If no specified matrices for projective texture, then use the camera matrices.
{
for (int i = 0; i < 16; i++)
{
projTextureViewMat[i] = viewMat[i];
projTextureProjMat[i] = projMat[i];
}
}
m_data->m_pluginManager.getRenderInterface()->setProjectiveTextureMatrices(projTextureViewMat, projTextureProjMat);
}
else
{
m_data->m_pluginManager.getRenderInterface()->setProjectiveTexture(false);
}
m_data->m_pluginManager.getRenderInterface()->copyCameraImageData(pixelRGBA, numRequestedPixels,
depthBuffer, numRequestedPixels,
segmentationMaskBuffer, numRequestedPixels,
startPixelIndex, &width, &height, &numPixelsCopied);
m_data->m_pluginManager.getRenderInterface()->setProjectiveTexture(false);
}
m_data->m_guiHelper->debugDisplayCameraImageData(clientCmd.m_requestPixelDataArguments.m_viewMatrix,

17
examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp
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@@ -87,8 +87,8 @@ struct EGLRendererObjectArray
}
};
#define START_WIDTH 640
#define START_HEIGHT 480
#define START_WIDTH 2560
#define START_HEIGHT 2048
struct EGLRendererVisualShapeConverterInternalData
{
@@ -886,6 +886,7 @@ void EGLRendererVisualShapeConverter::changeRGBAColor(int bodyUniqueId, int link
m_data->m_visualShapes[i].m_rgbaColor[1] = rgbaColor[1];
m_data->m_visualShapes[i].m_rgbaColor[2] = rgbaColor[2];
m_data->m_visualShapes[i].m_rgbaColor[3] = rgbaColor[3];
m_data->m_instancingRenderer->writeSingleInstanceColorToCPU(rgbaColor,i);
}
}
@@ -983,6 +984,16 @@ void EGLRendererVisualShapeConverter::setWidthAndHeight(int width, int height)
m_data->m_rgbColorBuffer = TGAImage(width, height, TGAImage::RGB);
}
void EGLRendererVisualShapeConverter::setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16])
{
m_data->m_instancingRenderer->setProjectiveTextureMatrices(viewMatrix,projectionMatrix);
}
void EGLRendererVisualShapeConverter::setProjectiveTexture(bool useProjectiveTexture)
{
m_data->m_instancingRenderer->setProjectiveTexture(useProjectiveTexture);
}
//copied from OpenGLGuiHelper.cpp
void EGLRendererVisualShapeConverter::copyCameraImageDataGL(
unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
@@ -1044,7 +1055,7 @@ void EGLRendererVisualShapeConverter::copyCameraImageDataGL(
glstat = glGetError();
b3Assert(glstat == GL_NO_ERROR);
}
if ((sourceWidth * sourceHeight * sizeof(float)) == depthBufferSizeInPixels)
if ((sourceWidth * sourceHeight) == depthBufferSizeInPixels)
{
glReadPixels(0, 0, sourceWidth, sourceHeight, GL_DEPTH_COMPONENT, GL_FLOAT, &(m_data->m_sourceDepthBuffer[0]));
int glstat;

3
examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.h
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@@ -51,6 +51,9 @@ struct EGLRendererVisualShapeConverter : public UrdfRenderingInterface
virtual int loadTextureFile(const char* filename);
virtual int registerTexture(unsigned char* texels, int width, int height);
virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16]);
virtual void setProjectiveTexture(bool useProjectiveTexture);
virtual void syncTransform(int shapeUid, const class btTransform& worldTransform, const class btVector3& localScaling);
};

100
examples/pybullet/examples/getCameraImageTest.py Normal file
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@@ -0,0 +1,100 @@
import matplotlib.pyplot as plt
import numpy as np
import pybullet as p
import time
direct = p.connect(p.GUI)#, options="--window_backend=2 --render_device=0")
#egl = p.loadPlugin("eglRendererPlugin")
p.loadURDF('plane.urdf')
p.loadURDF("r2d2.urdf",[0,0,1])
p.loadURDF('cube_small.urdf', basePosition=[0.0, 0.0, 0.025])
cube_trans = p.loadURDF('cube_small.urdf', basePosition=[0.0, 0.1, 0.025])
p.changeVisualShape(cube_trans,-1,rgbaColor=[1,1,1,0.1])
width = 128
height = 128
fov = 60
aspect = width / height
near = 0.02
far = 1
view_matrix = p.computeViewMatrix([0, 0, 0.5], [0, 0, 0], [1, 0, 0])
projection_matrix = p.computeProjectionMatrixFOV(fov, aspect, near, far)
# Get depth values using the OpenGL renderer
images = p.getCameraImage(width, height, view_matrix, projection_matrix, shadow=True,renderer=p.ER_BULLET_HARDWARE_OPENGL)
rgb_opengl= np.reshape(images[2], (height, width, 4))*1./255.
depth_buffer_opengl = np.reshape(images[3], [width, height])
depth_opengl = far * near / (far - (far - near) * depth_buffer_opengl)
seg_opengl = np.reshape(images[4], [width, height])*1./255.
time.sleep(1)
# Get depth values using Tiny renderer
images = p.getCameraImage(width, height, view_matrix, projection_matrix, shadow=True, renderer=p.ER_TINY_RENDERER)
depth_buffer_tiny = np.reshape(images[3], [width, height])
depth_tiny = far * near / (far - (far - near) * depth_buffer_tiny)
rgb_tiny= np.reshape(images[2], (height, width, 4))*1./255.
seg_tiny = np.reshape(images[4],[width,height])*1./255.
bearStartPos1 = [-3.3,0,0]
bearStartOrientation1 = p.getQuaternionFromEuler([0,0,0])
bearId1 = p.loadURDF("plane.urdf", bearStartPos1, bearStartOrientation1)
bearStartPos2 = [0,0,0]
bearStartOrientation2 = p.getQuaternionFromEuler([0,0,0])
bearId2 = p.loadURDF("teddy_large.urdf",bearStartPos2, bearStartOrientation2)
textureId = p.loadTexture("checker_grid.jpg")
for b in range (p.getNumBodies()):
p.changeVisualShape(b,linkIndex=-1,textureUniqueId=textureId)
for j in range(p.getNumJoints(b)):
p.changeVisualShape(b,linkIndex=j,textureUniqueId=textureId)
viewMat = [0.642787516117096, -0.4393851161003113, 0.6275069713592529, 0.0, 0.766044557094574, 0.36868777871131897, -0.5265407562255859, 0.0, -0.0, 0.8191521167755127, 0.5735764503479004, 0.0, 2.384185791015625e-07, 2.384185791015625e-07, -5.000000476837158, 1.0]
projMat = [0.7499999403953552, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0, 0.0, 0.0, -0.02000020071864128, 0.0]
images = p.getCameraImage(width, height, viewMatrix = viewMat, projectionMatrix = projMat, renderer=p.ER_BULLET_HARDWARE_OPENGL, flags=p.ER_USE_PROJECTIVE_TEXTURE, projectiveTextureView=viewMat, projectiveTextureProj=projMat)
proj_opengl= np.reshape(images[2], (height, width, 4))*1./255.
time.sleep(1)
images = p.getCameraImage(width, height, viewMatrix = viewMat, projectionMatrix = projMat, renderer=p.ER_TINY_RENDERER, flags=p.ER_USE_PROJECTIVE_TEXTURE, projectiveTextureView=viewMat, projectiveTextureProj=projMat)
proj_tiny= np.reshape(images[2], (height, width, 4))*1./255.
# Plot both images - should show depth values of 0.45 over the cube and 0.5 over the plane
plt.subplot(4, 2, 1)
plt.imshow(depth_opengl, cmap='gray', vmin=0, vmax=1)
plt.title('Depth OpenGL3')
plt.subplot(4, 2, 2)
plt.imshow(depth_tiny, cmap='gray', vmin=0, vmax=1)
plt.title('Depth TinyRenderer')
plt.subplot(4,2,3)
plt.imshow(rgb_opengl)
plt.title('RGB OpenGL3')
plt.subplot(4,2,4)
plt.imshow(rgb_tiny)
plt.title('RGB Tiny')
plt.subplot(4,2,5)
plt.imshow(seg_opengl)
plt.title('Seg OpenGL3')
plt.subplot(4,2,6)
plt.imshow(seg_tiny)
plt.title('Seg Tiny')
plt.subplot(4,2,7)
plt.imshow(proj_opengl)
plt.title('Proj OpenGL')
plt.subplot(4,2,8)
plt.imshow(proj_tiny)
plt.title('Proj Tiny')
plt.subplots_adjust(hspace=0.7)
plt.show()