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fix issues related to camera width/height

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add width,height as arguments to pybullet.renderImage(x,y,[viewMat4x4],[projMat4x4])
This commit is contained in:
Erwin Coumans
2016-06-07 16:11:58 -07:00
parent bd668d11b0
commit d2e50d045b
13 changed files with 203 additions and 141 deletions
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23
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -21,8 +21,8 @@ struct MyMotorInfo2
int m_qIndex;
};
int camVisualizerWidth = 640;//1024/3;
int camVisualizerHeight = 480;//768/3;
int camVisualizerWidth = 320;//1024/3;
int camVisualizerHeight = 240;//768/3;
#define MAX_NUM_MOTORS 128
@@ -77,10 +77,10 @@ protected:
virtual void resetCamera()
{
float dist = 5;
float dist = 1.1;
float pitch = 50;
float yaw = 35;
float targetPos[3]={0,0,0};//-3,2.8,-2.5};
float targetPos[3]={0,0,0.5};//-3,2.8,-2.5};
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
@@ -248,7 +248,8 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
this->m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraProjectionMatrix(projectionMatrix);
this->m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraViewMatrix(viewMatrix);
b3RequestCameraImageSetCameraMatrices(commandHandle, viewMatrix,projectionMatrix);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
b3RequestCameraImageSetPixelResolution(commandHandle, camVisualizerWidth,camVisualizerHeight);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
}
case CMD_CREATE_BOX_COLLISION_SHAPE:
@@ -619,18 +620,18 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
b3GetCameraImageData(m_physicsClientHandle,&imageData);
if (m_canvas && m_canvasIndex >=0)
{
for (int i=0;i<imageData.m_pixelWidth;i++)
for (int i=0;i<camVisualizerWidth;i++)
{
for (int j=0;j<imageData.m_pixelHeight;j++)
for (int j=0;j<camVisualizerHeight;j++)
{
int xIndex = int(float(i)*(float(camVisualizerWidth)/float(imageData.m_pixelWidth)));
int yIndex = int(float(j)*(float(camVisualizerHeight)/float(imageData.m_pixelHeight)));
int xIndex = int(float(i)*(float(imageData.m_pixelWidth)/float(camVisualizerWidth)));
int yIndex = int(float(j)*(float(imageData.m_pixelHeight)/float(camVisualizerHeight)));
btClamp(yIndex,0,imageData.m_pixelHeight);
btClamp(xIndex,0,imageData.m_pixelWidth);
int bytesPerPixel = 4;
int pixelIndex = (i+j*imageData.m_pixelWidth)*bytesPerPixel;
m_canvas->setPixel(m_canvasIndex,xIndex,camVisualizerHeight-1-yIndex,
int pixelIndex = (xIndex+yIndex*imageData.m_pixelWidth)*bytesPerPixel;
m_canvas->setPixel(m_canvasIndex,i,camVisualizerHeight-1-j,
imageData.m_rgbColorData[pixelIndex],
imageData.m_rgbColorData[pixelIndex+1],