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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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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);
}