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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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227
examples/pybullet/pybullet.c
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@@ -362,6 +362,11 @@ pybullet_getNumJoints(PyObject* self, PyObject* args)
static PyObject*
pybullet_setJointPositions(PyObject* self, PyObject* args)
{
if (0==sm)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
Py_INCREF(Py_None);
return Py_None;
@@ -372,17 +377,22 @@ pybullet_setJointPositions(PyObject* self, PyObject* args)
static PyObject* pybullet_renderImage(PyObject* self, PyObject* args)
{
if (0==sm)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
///request an image from a simulated camera, using a software renderer.
struct b3CameraImageData imageData;
PyObject* objViewMat,* objProjMat;
int width, height;
b3SharedMemoryCommandHandle command = b3InitRequestCameraImage(sm);
if (PyArg_ParseTuple(args, "OO", &objViewMat, &objProjMat))
if (PyArg_ParseTuple(args, "iiOO", &width, &height, &objViewMat, &objProjMat))
{
PyObject* seq;
int i, len;
PyObject* seq;
int i, len;
PyObject* item;
float viewMatrix[16];
float projectionMatrix[16];
@@ -391,124 +401,133 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args)
seq = PySequence_Fast(objViewMat, "expected a sequence");
len = PySequence_Size(objViewMat);
//printf("objViewMat size = %d\n", len);
if (len==16)
{
if (PyList_Check(seq))
{
for (i = 0; i < len; i++)
if (len==16)
{
if (PyList_Check(seq))
{
for (i = 0; i < len; i++)
{
item = PyList_GET_ITEM(seq, i);
viewMatrix[i] = PyFloat_AsDouble(item);
float v = viewMatrix[i];
viewMatrix[i] = PyFloat_AsDouble(item);
float v = viewMatrix[i];
//printf("view %d to %f\n", i,v);
}
}
else
{
for (i = 0; i < len; i++)
{
item = PyTuple_GET_ITEM(seq,i);
viewMatrix[i] = PyFloat_AsDouble(item);
}
}
} else
{
valid = 0;
}
}
else
{
for (i = 0; i < len; i++)
{
item = PyTuple_GET_ITEM(seq,i);
viewMatrix[i] = PyFloat_AsDouble(item);
}
}
} else
{
valid = 0;
}
}
{
seq = PySequence_Fast(objProjMat, "expected a sequence");
len = PySequence_Size(objProjMat);
//printf("projMat len = %d\n", len);
if (len==16)
{
if (PyList_Check(seq))
{
for (i = 0; i < len; i++)
{
item = PyList_GET_ITEM(seq, i);
projectionMatrix[i] = PyFloat_AsDouble(item);
}
}
else
{
for (i = 0; i < len; i++)
{
item = PyTuple_GET_ITEM(seq,i);
projectionMatrix[i] = PyFloat_AsDouble(item);
}
}
} else
{
valid = 0;
}
}
seq = PySequence_Fast(objProjMat, "expected a sequence");
len = PySequence_Size(objProjMat);
//printf("projMat len = %d\n", len);
if (len==16)
{
if (PyList_Check(seq))
{
for (i = 0; i < len; i++)
{
item = PyList_GET_ITEM(seq, i);
projectionMatrix[i] = PyFloat_AsDouble(item);
}
}
else
{
for (i = 0; i < len; i++)
{
item = PyTuple_GET_ITEM(seq,i);
projectionMatrix[i] = PyFloat_AsDouble(item);
}
}
} else
{
valid = 0;
}
}
Py_DECREF(seq);
if (valid)
{
b3SharedMemoryCommandHandle command;
command = b3InitRequestCameraImage(sm);
//printf("set b3RequestCameraImageSetCameraMatrices\n");
b3RequestCameraImageSetCameraMatrices(command, viewMatrix, projectionMatrix);
}
}
if (b3CanSubmitCommand(sm))
{
b3SharedMemoryStatusHandle statusHandle;
int statusType;
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType==CMD_CAMERA_IMAGE_COMPLETED)
{
PyObject *item2;
PyObject* pyResultList;//store 4 elements in this result: width, height, rgbData, depth
b3GetCameraImageData(sm, &imageData);
//todo: error handling if image size is 0
pyResultList = PyTuple_New(4);
PyTuple_SetItem(pyResultList, 0, PyInt_FromLong(imageData.m_pixelWidth));
PyTuple_SetItem(pyResultList, 1, PyInt_FromLong(imageData.m_pixelHeight));
PyObject *pylistPos;
PyObject* pylistDep;
//printf("image width = %d, height = %d\n", imageData.m_pixelWidth, imageData.m_pixelHeight);
{
PyObject *item;
int bytesPerPixel = 3;//Red, Green, Blue, each 8 bit values
int num=bytesPerPixel*imageData.m_pixelWidth*imageData.m_pixelHeight;
pylistPos = PyTuple_New(num);
pylistDep = PyTuple_New(imageData.m_pixelWidth*imageData.m_pixelHeight);
for (int i=0;i<imageData.m_pixelWidth;i++)
b3RequestCameraImageSetPixelResolution(command,width,height);
if (b3CanSubmitCommand(sm))
{
b3SharedMemoryStatusHandle statusHandle;
int statusType;
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType==CMD_CAMERA_IMAGE_COMPLETED)
{
for (int j=0;j<imageData.m_pixelHeight;j++)
{
int depIndex = i+j*imageData.m_pixelWidth;
item = PyFloat_FromDouble(imageData.m_depthValues[depIndex]);
PyTuple_SetItem(pylistDep, depIndex, item);
for (int p=0;p<bytesPerPixel;p++)
PyObject *item2;
PyObject* pyResultList;//store 4 elements in this result: width, height, rgbData, depth
b3GetCameraImageData(sm, &imageData);
//todo: error handling if image size is 0
pyResultList = PyTuple_New(4);
PyTuple_SetItem(pyResultList, 0, PyInt_FromLong(imageData.m_pixelWidth));
PyTuple_SetItem(pyResultList, 1, PyInt_FromLong(imageData.m_pixelHeight));
PyObject *pylistPos;
PyObject* pylistDep;
//printf("image width = %d, height = %d\n", imageData.m_pixelWidth, imageData.m_pixelHeight);
{
int pixelIndex = bytesPerPixel*(i+j*imageData.m_pixelWidth)+p;
item = PyInt_FromLong(imageData.m_rgbColorData[pixelIndex]);
PyTuple_SetItem(pylistPos, pixelIndex, item);
}
PyObject *item;
int bytesPerPixel = 3;//Red, Green, Blue, each 8 bit values
int num=bytesPerPixel*imageData.m_pixelWidth*imageData.m_pixelHeight;
pylistPos = PyTuple_New(num);
pylistDep = PyTuple_New(imageData.m_pixelWidth*imageData.m_pixelHeight);
for (int i=0;i<imageData.m_pixelWidth;i++)
{
for (int j=0;j<imageData.m_pixelHeight;j++)
{
int depIndex = i+j*imageData.m_pixelWidth;
item = PyFloat_FromDouble(imageData.m_depthValues[depIndex]);
PyTuple_SetItem(pylistDep, depIndex, item);
for (int p=0;p<bytesPerPixel;p++)
{
int pixelIndex = bytesPerPixel*(i+j*imageData.m_pixelWidth)+p;
item = PyInt_FromLong(imageData.m_rgbColorData[pixelIndex]);
PyTuple_SetItem(pylistPos, pixelIndex, item);
}
}
}
}
PyTuple_SetItem(pyResultList, 2,pylistPos);
PyTuple_SetItem(pyResultList, 3,pylistDep);
return pyResultList;
}
}
PyTuple_SetItem(pyResultList, 2,pylistPos);
PyTuple_SetItem(pyResultList, 3,pylistDep);
return pyResultList;
}
}
}
}
Py_INCREF(Py_None);
return Py_None;
return Py_None;
}
static PyMethodDef SpamMethods[] = {
@@ -534,7 +553,7 @@ static PyMethodDef SpamMethods[] = {
"Initialize the joint positions for all joints. This method skips any physics simulation and teleports all joints to the new positions."},
{"renderImage", pybullet_renderImage, METH_VARARGS,
"Render an image (given the camera view & projection matrices and resolution), and return the 8-8-8bit RGB pixel data and floating point depth values"},
"Render an image (given the pixel resolution width & height and camera view & projection matrices), and return the 8-8-8bit RGB pixel data and floating point depth values"},
{"getBasePositionAndOrientation", pybullet_getBasePositionAndOrientation, METH_VARARGS,
"Get the world position and orientation of the base of the object. (x,y,z) position vector and (x,y,z,w) quaternion orientation."},