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pybullet.getCameraImage: preparation to expose link index in segmentation mask buffer

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This commit is contained in:
Erwin Coumans
2017-12-28 10:18:35 -08:00
parent 78e4d9675e
commit afd1066c50
7 changed files with 30 additions and 14 deletions
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9
examples/TinyRenderer/TinyRenderer.cpp
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@@ -199,7 +199,7 @@ m_objectIndex(-1)
}
TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer, b3AlignedObjectArray<float>* shadowBuffer, b3AlignedObjectArray<int>* segmentationMaskBuffer, int objectIndex)
TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer, b3AlignedObjectArray<float>* shadowBuffer, b3AlignedObjectArray<int>* segmentationMaskBuffer, int objectIndex, int linkIndex)
:m_model(0),
m_rgbColorBuffer(rgbColorBuffer),
m_depthBuffer(depthBuffer),
@@ -207,7 +207,8 @@ m_shadowBuffer(shadowBuffer),
m_segmentationMaskBufferPtr(segmentationMaskBuffer),
m_userData(0),
m_userIndex(-1),
m_objectIndex(objectIndex)
m_objectIndex(objectIndex),
m_linkIndex(linkIndex)
{
Vec3f eye(1,1,3);
Vec3f center(0,0,0);
@@ -561,12 +562,12 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
{
for (int t=0;t<clippedTriangles.size();t++)
{
triangleClipped(clippedTriangles[t], shader.varying_tri, shader, frame, &zbuffer[0], segmentationMaskBufferPtr, renderData.m_viewportMatrix, renderData.m_objectIndex);
triangleClipped(clippedTriangles[t], shader.varying_tri, shader, frame, &zbuffer[0], segmentationMaskBufferPtr, renderData.m_viewportMatrix, renderData.m_objectIndex+((renderData.m_linkIndex+1)<<24));
}
}
else
{
triangle(shader.varying_tri, shader, frame, &zbuffer[0], segmentationMaskBufferPtr, renderData.m_viewportMatrix, renderData.m_objectIndex);
triangle(shader.varying_tri, shader, frame, &zbuffer[0], segmentationMaskBufferPtr, renderData.m_viewportMatrix, renderData.m_objectIndex+((renderData.m_linkIndex+1)<<24));
}
}
}

3
examples/TinyRenderer/TinyRenderer.h
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@@ -39,7 +39,7 @@ struct TinyRenderObjectData
TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer);
TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer,b3AlignedObjectArray<int>* segmentationMaskBuffer,int objectIndex);
TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer,b3AlignedObjectArray<float>* shadowBuffer);
TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer,b3AlignedObjectArray<float>* shadowBuffer, b3AlignedObjectArray<int>* segmentationMaskBuffer,int objectIndex);
TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer,b3AlignedObjectArray<float>* shadowBuffer, b3AlignedObjectArray<int>* segmentationMaskBuffer,int objectIndex, int linkIndex);
virtual ~TinyRenderObjectData();
void loadModel(const char* fileName);
@@ -52,6 +52,7 @@ struct TinyRenderObjectData
void* m_userData;
int m_userIndex;
int m_objectIndex;
int m_linkIndex;
};

15
examples/TinyRenderer/our_gl.cpp
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@@ -75,7 +75,7 @@ void triangleClipped(mat<4,3,float> &clipc, mat<4,3,float> &orgClipc, IShader &s
triangleClipped(clipc, orgClipc,shader,image,zbuffer,0,viewPortMatrix,0);
}
void triangleClipped(mat<4,3,float> &clipc, mat<4,3,float> &orgClipc, IShader &shader, TGAImage &image, float *zbuffer, int* segmentationMaskBuffer, const Matrix& viewPortMatrix, int objectIndex)
void triangleClipped(mat<4,3,float> &clipc, mat<4,3,float> &orgClipc, IShader &shader, TGAImage &image, float *zbuffer, int* segmentationMaskBuffer, const Matrix& viewPortMatrix, int objectAndLinkIndex)
{
mat<3,4,float> screenSpacePts = (viewPortMatrix*clipc).transpose(); // transposed to ease access to each of the points
@@ -135,7 +135,7 @@ void triangleClipped(mat<4,3,float> &clipc, mat<4,3,float> &orgClipc, IShader &s
zbuffer[P.x+P.y*image.get_width()] = frag_depth;
if (segmentationMaskBuffer)
{
segmentationMaskBuffer[P.x+P.y*image.get_width()] = objectIndex;
segmentationMaskBuffer[P.x+P.y*image.get_width()] = objectAndLinkIndex;
}
image.set(P.x, P.y, color);
}
@@ -149,7 +149,7 @@ void triangle(mat<4,3,float> &clipc, IShader &shader, TGAImage &image, float *zb
triangle(clipc,shader,image,zbuffer,0,viewPortMatrix,0);
}
void triangle(mat<4,3,float> &clipc, IShader &shader, TGAImage &image, float *zbuffer, int* segmentationMaskBuffer, const Matrix& viewPortMatrix, int objectIndex) {
void triangle(mat<4,3,float> &clipc, IShader &shader, TGAImage &image, float *zbuffer, int* segmentationMaskBuffer, const Matrix& viewPortMatrix, int objectAndLinkIndex) {
mat<3,4,float> pts = (viewPortMatrix*clipc).transpose(); // transposed to ease access to each of the points
@@ -189,7 +189,14 @@ void triangle(mat<4,3,float> &clipc, IShader &shader, TGAImage &image, float *zb
zbuffer[P.x+P.y*image.get_width()] = frag_depth;
if (segmentationMaskBuffer)
{
segmentationMaskBuffer[P.x+P.y*image.get_width()] = objectIndex;
if (objectAndLinkIndex)
{
segmentationMaskBuffer[P.x+P.y*image.get_width()] = objectAndLinkIndex;
} else
{
segmentationMaskBuffer[P.x+P.y*image.get_width()] = 0;
}
}
image.set(P.x, P.y, color);
}