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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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2
examples/RenderingExamples/TinyRendererSetup.cpp
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@@ -195,7 +195,7 @@ TinyRendererSetup::TinyRendererSetup(struct GUIHelperInterface* gui)
m_internalData->m_depthBuffer, m_internalData->m_depthBuffer,
&m_internalData->m_shadowBuffer, &m_internalData->m_shadowBuffer,
&m_internalData->m_segmentationMaskBuffer, &m_internalData->m_segmentationMaskBuffer,
m_internalData->m_renderObjects.size()); m_internalData->m_renderObjects.size(), -1);
meshData.m_gfxShape->m_scaling[0] = scaling[0]; meshData.m_gfxShape->m_scaling[0] = scaling[0];
meshData.m_gfxShape->m_scaling[1] = scaling[1]; meshData.m_gfxShape->m_scaling[1] = scaling[1];

7
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -940,8 +940,11 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
btVector4(32,255,255,255)}; btVector4(32,255,255,255)};
if (segmentationMask>=0) if (segmentationMask>=0)
{ {
btVector4 rgb = palette[segmentationMask&3]; int obIndex = segmentationMask&(0x1e24-1);
m_canvas->setPixel(m_canvasSegMaskIndex,i,j, int linkIndex = (segmentationMask>>24)-1;
btVector4 rgb = palette[(obIndex+linkIndex)&3];
m_canvas->setPixel(m_canvasSegMaskIndex,i,j,
rgb.x(), rgb.x(),
rgb.y(), rgb.y(),
rgb.z(), 255); //alpha set to 255 rgb.z(), 255); //alpha set to 255

6
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -2169,7 +2169,11 @@ void PhysicsServerExample::updateGraphics()
btVector4(32,255,255,255)}; btVector4(32,255,255,255)};
if (segmentationMask>=0) if (segmentationMask>=0)
{ {
btVector4 rgb = palette[segmentationMask&3]; int obIndex = segmentationMask&(0x1e24-1);
int linkIndex = (segmentationMask>>24)-1;
btVector4 rgb = palette[(obIndex+linkIndex)&3];
m_canvas->setPixel(m_canvasSegMaskIndex,i,j, m_canvas->setPixel(m_canvasSegMaskIndex,i,j,
rgb.x(), rgb.x(),
rgb.y(), rgb.y(),

2
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
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@@ -629,7 +629,7 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
if (vertices.size() && indices.size()) if (vertices.size() && indices.size())
{ {
TinyRenderObjectData* tinyObj = new TinyRenderObjectData(m_data->m_rgbColorBuffer,m_data->m_depthBuffer, &m_data->m_shadowBuffer, &m_data->m_segmentationMaskBuffer, bodyUniqueId); TinyRenderObjectData* tinyObj = new TinyRenderObjectData(m_data->m_rgbColorBuffer,m_data->m_depthBuffer, &m_data->m_shadowBuffer, &m_data->m_segmentationMaskBuffer, bodyUniqueId, linkIndex);
unsigned char* textureImage1=0; unsigned char* textureImage1=0;
int textureWidth=0; int textureWidth=0;
int textureHeight=0; int textureHeight=0;

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_model(0),
m_rgbColorBuffer(rgbColorBuffer), m_rgbColorBuffer(rgbColorBuffer),
m_depthBuffer(depthBuffer), m_depthBuffer(depthBuffer),
@@ -207,7 +207,8 @@ m_shadowBuffer(shadowBuffer),
m_segmentationMaskBufferPtr(segmentationMaskBuffer), m_segmentationMaskBufferPtr(segmentationMaskBuffer),
m_userData(0), m_userData(0),
m_userIndex(-1), m_userIndex(-1),
m_objectIndex(objectIndex) m_objectIndex(objectIndex),
m_linkIndex(linkIndex)
{ {
Vec3f eye(1,1,3); Vec3f eye(1,1,3);
Vec3f center(0,0,0); Vec3f center(0,0,0);
@@ -561,12 +562,12 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
{ {
for (int t=0;t<clippedTriangles.size();t++) 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 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);
TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer,b3AlignedObjectArray<int>* segmentationMaskBuffer,int objectIndex); 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);
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(); virtual ~TinyRenderObjectData();
void loadModel(const char* fileName); void loadModel(const char* fileName);
@@ -52,6 +52,7 @@ struct TinyRenderObjectData
void* m_userData; void* m_userData;
int m_userIndex; int m_userIndex;
int m_objectIndex; 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); 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 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; zbuffer[P.x+P.y*image.get_width()] = frag_depth;
if (segmentationMaskBuffer) 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); 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); 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 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; zbuffer[P.x+P.y*image.get_width()] = frag_depth;
if (segmentationMaskBuffer) 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); image.set(P.x, P.y, color);
} }