From e2d29d40488d8fa7a2c01bfda99886d79385f8c6 Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Fri, 17 Nov 2017 13:33:27 -0800
Subject: [PATCH] also enable depth and segmentation mask preview window in
 example browser/pybullet You can disable/enable all preview windows using:

p.configureDebugVisualizer(p.COV_ENABLE_RGB_BUFFER_PREVIEW,0/1)
p.configureDebugVisualizer(p.COV_ENABLE_DEPTH_BUFFER_PREVIEW,0/1)
p.configureDebugVisualizer(p.COV_ENABLE_SEGMENTATION_MASK_PREVIEW,0/1)
---
 .../SharedMemory/PhysicsServerExample.cpp     | 58 ++++++++++++++++++-
 examples/SharedMemory/SharedMemoryPublic.h    |  4 ++
 examples/pybullet/pybullet.c                  |  3 +
 3 files changed, 63 insertions(+), 2 deletions(-)

diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp
index 39766cc48..4f051e42b 100644
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -1752,8 +1752,8 @@ void	PhysicsServerExample::initPhysics()
 	
 			
 			m_canvasRGBIndex = m_canvas->createCanvas("Synthetic Camera RGB data",gCamVisualizerWidth, gCamVisualizerHeight);
-			//m_canvasDepthIndex = m_canvas->createCanvas("Synthetic Camera Depth data",gCamVisualizerWidth, gCamVisualizerHeight);
-			//m_canvasSegMaskIndex = m_canvas->createCanvas("Synthetic Camera Segmentation Mask",gCamVisualizerWidth, gCamVisualizerHeight);
+			m_canvasDepthIndex = m_canvas->createCanvas("Synthetic Camera Depth data",gCamVisualizerWidth, gCamVisualizerHeight);
+			m_canvasSegMaskIndex = m_canvas->createCanvas("Synthetic Camera Segmentation Mask",gCamVisualizerWidth, gCamVisualizerHeight);
 
 			for (int i=0;i<gCamVisualizerWidth;i++)
 			{
@@ -1898,6 +1898,60 @@ void	PhysicsServerExample::updateGraphics()
 		int flag = m_multiThreadedHelper->m_visualizerFlag;
 		int enable = m_multiThreadedHelper->m_visualizerEnable;
 
+		if (flag == COV_ENABLE_RGB_BUFFER_PREVIEW)
+		{
+			if (enable)
+			{
+				if (m_canvasRGBIndex<0)
+				{
+					m_canvasRGBIndex = m_canvas->createCanvas("Synthetic Camera RGB data",gCamVisualizerWidth, gCamVisualizerHeight);
+				}
+			} else
+			{
+				if (m_canvasRGBIndex>=0)
+				{
+					m_canvas->destroyCanvas(m_canvasRGBIndex);
+					m_canvasRGBIndex = -1;
+				}
+			}
+		}
+
+		if (flag == COV_ENABLE_DEPTH_BUFFER_PREVIEW)
+		{
+			if (enable)
+			{
+				if (m_canvasDepthIndex<0)
+				{
+					m_canvasDepthIndex = m_canvas->createCanvas("Synthetic Camera Depth data",gCamVisualizerWidth, gCamVisualizerHeight);
+				}
+			} else
+			{
+				if (m_canvasDepthIndex>=0)
+				{
+					m_canvas->destroyCanvas(m_canvasDepthIndex);
+					m_canvasDepthIndex = -1;
+				}
+			}
+		}
+
+		if (flag == COV_ENABLE_SEGMENTATION_MARK_PREVIEW)
+		{
+			if (enable)
+			{
+				if (m_canvasSegMaskIndex<0)
+				{
+					m_canvasSegMaskIndex = m_canvas->createCanvas("Synthetic Camera Segmentation Mask",gCamVisualizerWidth, gCamVisualizerHeight);
+				}
+			} else
+			{
+				if (m_canvasSegMaskIndex>=0)
+				{
+					m_canvas->destroyCanvas(m_canvasSegMaskIndex);
+					m_canvasSegMaskIndex = -1;
+				}
+			}
+		}
+		
 		if (flag==COV_ENABLE_VR_TELEPORTING)
 		{
 			gEnableTeleporting = (enable!=0);
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index a1f59ae45..fc8fa9c7c 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -600,6 +600,10 @@ enum b3ConfigureDebugVisualizerEnum
 	COV_ENABLE_MOUSE_PICKING,
 	COV_ENABLE_Y_AXIS_UP,
 	COV_ENABLE_TINY_RENDERER,
+	COV_ENABLE_RGB_BUFFER_PREVIEW,
+	COV_ENABLE_DEPTH_BUFFER_PREVIEW,
+	COV_ENABLE_SEGMENTATION_MARK_PREVIEW,
+	
 };
 
 enum b3AddUserDebugItemEnum
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index afb3fd895..b11fcdc25 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -8209,6 +8209,9 @@ initpybullet(void)
 	PyModule_AddIntConstant(m, "COV_ENABLE_KEYBOARD_SHORTCUTS", COV_ENABLE_KEYBOARD_SHORTCUTS);
 	PyModule_AddIntConstant(m, "COV_ENABLE_MOUSE_PICKING", COV_ENABLE_MOUSE_PICKING);
 
+	PyModule_AddIntConstant(m, "COV_ENABLE_RGB_BUFFER_PREVIEW", COV_ENABLE_RGB_BUFFER_PREVIEW);
+	PyModule_AddIntConstant(m, "COV_ENABLE_DEPTH_BUFFER_PREVIEW", COV_ENABLE_DEPTH_BUFFER_PREVIEW);
+	PyModule_AddIntConstant(m, "COV_ENABLE_SEGMENTATION_MARK_PREVIEW", COV_ENABLE_SEGMENTATION_MARK_PREVIEW);
 
 	PyModule_AddIntConstant(m, "ER_TINY_RENDERER", ER_TINY_RENDERER);
 	PyModule_AddIntConstant(m, "ER_BULLET_HARDWARE_OPENGL", ER_BULLET_HARDWARE_OPENGL);