fix issues related to camera width/height

add width,height as arguments to pybullet.renderImage(x,y,[viewMat4x4],[projMat4x4])

examples/RenderingExamples/TinyRendererSetup.cpp

@@ -183,7 +183,7 @@ TinyRendererSetup::TinyRendererSetup(struct GUIHelperInterface* gui)
 				m_guiHelper->getRenderInterface()->writeTransforms();
 
 				m_internalData->m_shapePtr.push_back(0);
-				TinyRenderObjectData* ob = new TinyRenderObjectData(m_internalData->m_width,m_internalData->m_height,
+				TinyRenderObjectData* ob = new TinyRenderObjectData(
 					m_internalData->m_rgbColorBuffer,
 					m_internalData->m_depthBuffer);
 					//ob->loadModel("cube.obj");
@@ -363,7 +363,7 @@ void TinyRendererSetup::stepSimulation(float deltaTime)
 					
                 }
             }
-            TinyRenderer::renderObject(*m_internalData->m_renderObjects[o]);
+            TinyRenderer::renderObject(*m_internalData->m_renderObjects[o], m_internalData->m_width,m_internalData->m_height);
         }
         //m_app->drawText("hello",500,500);
         render->activateTexture(m_internalData->m_textureHandle);

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -735,6 +735,16 @@ void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle commandHa
 	command->m_updateFlags |= REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES;
 }
 
+void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle commandHandle, int width, int height )
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+	b3Assert(command);
+	b3Assert(command->m_type == CMD_REQUEST_CAMERA_IMAGE_DATA);
+	command->m_requestPixelDataArguments.m_pixelWidth = width;
+	command->m_requestPixelDataArguments.m_pixelHeight = height;
+	command->m_updateFlags |= REQUEST_PIXEL_ARGS_SET_PIXEL_WIDTH_HEIGHT;	
+}
+
 void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData)
 {
 	PhysicsClient* cl = (PhysicsClient* ) physClient;

examples/SharedMemory/PhysicsClientC_API.h

@@ -68,6 +68,7 @@ void    b3GetDebugLines(b3PhysicsClientHandle physClient, struct b3DebugLines* l
 ///request an image from a simulated camera, using a software renderer.
 b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physClient);
 void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle command, float viewMatrix[16], float projectionMatrix[16]);
+void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle command, int width, int height );
 void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData);
 
 

examples/SharedMemory/PhysicsClientExample.cpp

@@ -21,8 +21,8 @@ struct MyMotorInfo2
     int     m_qIndex;
 };
 
-int camVisualizerWidth = 640;//1024/3;
+int camVisualizerWidth = 320;//1024/3;
-int camVisualizerHeight = 480;//768/3;
+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]);
 
 	}
@@ -248,6 +248,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
 			this->m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraProjectionMatrix(projectionMatrix);
 			this->m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraViewMatrix(viewMatrix);
             b3RequestCameraImageSetCameraMatrices(commandHandle, viewMatrix,projectionMatrix);
+			b3RequestCameraImageSetPixelResolution(commandHandle, camVisualizerWidth,camVisualizerHeight);
 			b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
             break;
         }
@@ -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 xIndex = int(float(i)*(float(imageData.m_pixelWidth)/float(camVisualizerWidth)));
-                            int yIndex = int(float(j)*(float(camVisualizerHeight)/float(imageData.m_pixelHeight)));
+                            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;
+							int pixelIndex = (xIndex+yIndex*imageData.m_pixelWidth)*bytesPerPixel;
-							m_canvas->setPixel(m_canvasIndex,xIndex,camVisualizerHeight-1-yIndex,
+							m_canvas->setPixel(m_canvasIndex,i,camVisualizerHeight-1-j,
                                                
 									imageData.m_rgbColorData[pixelIndex],
 									imageData.m_rgbColorData[pixelIndex+1],

examples/SharedMemory/PhysicsClientSharedMemory.cpp

@@ -450,6 +450,13 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
                     (unsigned char*)&m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0];
               //  printf("pixel = %d\n", rgbaPixelsReceived[0]);
                 
+				float* depthBuffer = (float*)&(m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[serverCmd.m_sendPixelDataArguments.m_numPixelsCopied*4]);
+			
+				for (int i=0;i<serverCmd.m_sendPixelDataArguments.m_numPixelsCopied;i++)
+				{
+					m_data->m_cachedCameraDepthBuffer[i + serverCmd.m_sendPixelDataArguments.m_startingPixelIndex] = depthBuffer[i];
+				}
+				
 				for (int i=0;i<serverCmd.m_sendPixelDataArguments.m_numPixelsCopied*numBytesPerPixel;i++)
 				{
 					m_data->m_cachedCameraPixelsRGBA[i + serverCmd.m_sendPixelDataArguments.m_startingPixelIndex*numBytesPerPixel] 

examples/SharedMemory/PhysicsDirect.cpp

@@ -210,8 +210,15 @@ bool PhysicsDirect::processCamera(const struct SharedMemoryCommand& orgCommand)
                 
 			unsigned char* rgbaPixelsReceived =
                 (unsigned char*)&m_data->m_bulletStreamDataServerToClient[0];
-            printf("pixel = %d\n", rgbaPixelsReceived[0]);
 			
+			float* depthBuffer = (float*)&(m_data->m_bulletStreamDataServerToClient[serverCmd.m_sendPixelDataArguments.m_numPixelsCopied*4]);
+			
+          //  printf("pixel = %d\n", rgbaPixelsReceived[0]);
+                
+			for (int i=0;i<serverCmd.m_sendPixelDataArguments.m_numPixelsCopied;i++)
+			{
+				m_data->m_cachedCameraDepthBuffer[i + serverCmd.m_sendPixelDataArguments.m_startingPixelIndex] = depthBuffer[i];
+			}
 			for (int i=0;i<serverCmd.m_sendPixelDataArguments.m_numPixelsCopied*numBytesPerPixel;i++)
 			{
 				m_data->m_cachedCameraPixelsRGBA[i + serverCmd.m_sendPixelDataArguments.m_startingPixelIndex*numBytesPerPixel] 
@@ -227,6 +234,7 @@ bool PhysicsDirect::processCamera(const struct SharedMemoryCommand& orgCommand)
 				command.m_requestPixelDataArguments.m_startPixelIndex = 
 					serverCmd.m_sendPixelDataArguments.m_startingPixelIndex + 
 					serverCmd.m_sendPixelDataArguments.m_numPixelsCopied;
+				
 			} else
 			{
 				m_data->m_cachedCameraPixelsWidth = serverCmd.m_sendPixelDataArguments.m_imageWidth;

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -972,6 +972,14 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                     int width, height;
                     int numPixelsCopied = 0;
                                       
+					if (
+						(clientCmd.m_requestPixelDataArguments.m_startPixelIndex==0) && 
+						(clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_PIXEL_WIDTH_HEIGHT)!=0)
+					{
+						m_data->m_visualConverter.setWidthAndHeight(clientCmd.m_requestPixelDataArguments.m_pixelWidth,
+																	clientCmd.m_requestPixelDataArguments.m_pixelHeight);
+					}		
+					
 					if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_USE_HARDWARE_OPENGL)!=0)
 					{
 						m_data->m_guiHelper->copyCameraImageData(0,0,0,0,0,&width,&height,0);
@@ -1005,6 +1013,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                             {
                              //   printf("-------------------------------\nRendering\n");
                                 
+																	
                                 if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES)!=0)
                                 {
                                     m_data->m_visualConverter.render(

examples/SharedMemory/SharedMemoryCommands.h

@@ -129,12 +129,16 @@ struct RequestPixelDataArgs
 	float m_viewMatrix[16];
 	float m_projectionMatrix[16];
 	int m_startPixelIndex;
+	int m_pixelWidth;
+	int m_pixelHeight;
 };
 
 enum EnumRequestPixelDataUpdateFlags
 {
 	REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES=1,
 	REQUEST_PIXEL_ARGS_USE_HARDWARE_OPENGL=2,
+	REQUEST_PIXEL_ARGS_SET_PIXEL_WIDTH_HEIGHT=4,
+	
 };
 
 

examples/SharedMemory/TinyRendererVisualShapeConverter.cpp

@@ -462,7 +462,7 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(int linkIndex, const
 
             if (vertices.size() && indices.size())
             {
-                TinyRenderObjectData* tinyObj = new TinyRenderObjectData(m_data->m_swWidth,m_data->m_swHeight,m_data->m_rgbColorBuffer,m_data->m_depthBuffer);
+                TinyRenderObjectData* tinyObj = new TinyRenderObjectData(m_data->m_rgbColorBuffer,m_data->m_depthBuffer);
                 tinyObj->registerMeshShape(&vertices[0].xyzw[0],vertices.size(),&indices[0],indices.size(),rgbaColor);
                 visuals->m_renderObjects.push_back(tinyObj);
             }
@@ -576,7 +576,7 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo
                     renderObj->m_lightDirWorld = lightDirWorld;
                 }
             }
-            TinyRenderer::renderObject(*renderObj);
+            TinyRenderer::renderObject(*renderObj,m_data->m_swWidth,m_data->m_swHeight);
         }
     }
 	//printf("write tga \n");
@@ -590,6 +590,17 @@ void TinyRendererVisualShapeConverter::getWidthAndHeight(int& width, int& height
     height = m_data->m_swHeight;
 }
 
+
+void TinyRendererVisualShapeConverter::setWidthAndHeight(int width, int height)
+{
+	m_data->m_swWidth = width;
+	m_data->m_swHeight = height;
+
+	m_data->m_depthBuffer.resize(m_data->m_swWidth*m_data->m_swHeight);
+	m_data->m_rgbColorBuffer = TGAImage(width, height, TGAImage::RGB);
+		
+}
+
 void TinyRendererVisualShapeConverter::copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied)
 {
     int w = m_data->m_rgbColorBuffer.get_width();
@@ -612,6 +623,10 @@ void TinyRendererVisualShapeConverter::copyCameraImageData(unsigned char* pixels
     {
         for (int i=0;i<numRequestedPixels;i++)
         {
+			if (depthBuffer)
+			{
+				depthBuffer[i] = m_data->m_depthBuffer[i+startPixelIndex];
+			}
             if (pixelsRGBA)
             {
                 pixelsRGBA[i*numBytesPerPixel] =   m_data->m_rgbColorBuffer.buffer()[(i+startPixelIndex)*3+0];

examples/SharedMemory/TinyRendererVisualShapeConverter.h

@@ -24,6 +24,7 @@ struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter
 	void resetAll();
 
     void getWidthAndHeight(int& width, int& height);
+	void setWidthAndHeight(int width, int height);
     
     void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied);
     

examples/TinyRenderer/TinyRenderer.cpp

@@ -88,10 +88,8 @@ struct Shader : public IShader {
 };
 
 
-TinyRenderObjectData::TinyRenderObjectData(int width, int height,TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer)
+TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer)
-:m_width(width),
+:m_rgbColorBuffer(rgbColorBuffer),
-m_height(height),
-m_rgbColorBuffer(rgbColorBuffer),
 m_depthBuffer(depthBuffer),
 m_model(0),
 m_userData(0),
@@ -103,11 +101,6 @@ m_userIndex(-1)
     m_lightDirWorld.setValue(0,0,0);
 	m_localScaling.setValue(1,1,1);
     m_modelMatrix = Matrix::identity();
-    m_viewMatrix = lookat(eye, center, up);
-    //m_viewportMatrix = viewport(width/8, height/8, width*3/4, height*3/4);
-	//m_viewportMatrix = viewport(width/8, height/8, width*3/4, height*3/4);
-	m_viewportMatrix = viewport(0,0,width,height);
-    m_projectionMatrix = projection(-1.f/(eye-center).norm());
  
 }
 
@@ -238,7 +231,7 @@ TinyRenderObjectData::~TinyRenderObjectData()
     delete m_model;
 }
 
-void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
+void TinyRenderer::renderObject(TinyRenderObjectData& renderData, int width, int height)
 {
 	Vec3f light_dir_local = Vec3f(renderData.m_lightDirWorld[0],renderData.m_lightDirWorld[1],renderData.m_lightDirWorld[2]);
     Model* model = renderData.m_model;
@@ -247,12 +240,7 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
     
 	
 
-	//renderData.m_viewMatrix = lookat(eye, center, up);
+	renderData.m_viewportMatrix = viewport(0,0,width, height);
-	int width = renderData.m_width;
-	int height = renderData.m_height;
-	//renderData.m_viewportMatrix = viewport(width/8, height/8, width*3/4, height*3/4);
-	renderData.m_viewportMatrix = viewport(0,0,renderData.m_width,renderData.m_height);
-    //renderData.m_projectionMatrix = projection(-1.f/(eye-center).norm());
 	
     b3AlignedObjectArray<float>& zbuffer = renderData.m_depthBuffer;
     

examples/TinyRenderer/TinyRenderer.h

@@ -25,12 +25,11 @@ struct TinyRenderObjectData
     //class IShader* m_shader; todo(erwincoumans) expose the shader, for now we use a default shader
             
     //Output
-    int m_width;
+    
-    int m_height;
     TGAImage& m_rgbColorBuffer;
     b3AlignedObjectArray<float>& m_depthBuffer;
     
-    TinyRenderObjectData(int width, int height,TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>& depthBuffer);
+    TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>& depthBuffer);
     virtual ~TinyRenderObjectData();
     
     void loadModel(const char* fileName);
@@ -48,7 +47,7 @@ struct TinyRenderObjectData
 class TinyRenderer
 {
     public:
-        static void renderObject(TinyRenderObjectData& renderData);
+        static void renderObject(TinyRenderObjectData& renderData, int width, int height);
 };
 
 #endif // TINY_RENDERER_Hbla

examples/pybullet/pybullet.c

@@ -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;
@@ -372,15 +377,20 @@ 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, "iiOO", &width, &height, &objViewMat, &objProjMat))
-	
-	if (PyArg_ParseTuple(args, "OO", &objViewMat, &objProjMat))
 	{
+	
 		PyObject* seq;
 		int i, len;
 		PyObject* item;
@@ -419,6 +429,7 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args)
 			}
 		}
 		
+		
 		{
 			seq = PySequence_Fast(objProjMat, "expected a sequence");
 			len = PySequence_Size(objProjMat);
@@ -447,14 +458,17 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args)
 			}
 		}
 
-
     		Py_DECREF(seq);	
 		if (valid)
 		{
+			b3SharedMemoryCommandHandle command;
+			
+			command = b3InitRequestCameraImage(sm);
+
 			//printf("set b3RequestCameraImageSetCameraMatrices\n");
 			b3RequestCameraImageSetCameraMatrices(command, viewMatrix, projectionMatrix);
-		}
+			
-	}
+			b3RequestCameraImageSetPixelResolution(command,width,height);
 		
 			if (b3CanSubmitCommand(sm))
 			{
@@ -501,12 +515,17 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args)
 							}
 						}	
 					}
+
 					PyTuple_SetItem(pyResultList, 2,pylistPos);
 					PyTuple_SetItem(pyResultList, 3,pylistDep);
 					return pyResultList;	
 				}	
 			}
 			
+		}
+
+	}
+
 	Py_INCREF(Py_None);
 	return Py_None;
 }
@@ -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."},