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implement first draft of pybullet.renderImage for synthetic camera

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remove a few debug printf from tinyrenderer
This commit is contained in:
Erwin Coumans 2016-06-06 18:54:05 -07:00
parent 8076d5235c
commit 1c7f87aff1
7 changed files with 180 additions and 15 deletions
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14
examples/SharedMemory/PhysicsClientExample.cpp
View File

@ -612,9 +612,9 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
}
if (statusType ==CMD_CAMERA_IMAGE_COMPLETED)
{
static int counter=0;
char msg[1024];
sprintf(msg,"Camera image %d OK\n",counter++);
// static int counter=0;
// char msg[1024];
// sprintf(msg,"Camera image %d OK\n",counter++);
b3CameraImageData imageData;
b3GetCameraImageData(m_physicsClientHandle,&imageData);
if (m_canvas && m_canvasIndex >=0)
@ -642,11 +642,11 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
m_canvas->refreshImageData(m_canvasIndex);
}
b3Printf(msg);
// b3Printf(msg);
}
if (statusType == CMD_CAMERA_IMAGE_FAILED)
{
b3Printf("Camera image FAILED\n");
b3Warning("Camera image FAILED\n");
}
@ -716,8 +716,8 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
bool hasStatus = (status != 0);
if (hasStatus)
{
int statusType = b3GetStatusType(status);
b3Printf("Status after reset: %d",statusType);
//int statusType = b3GetStatusType(status);
//b3Printf("Status after reset: %d",statusType);
}
}
} else

4
examples/SharedMemory/PhysicsClientSharedMemory.cpp
View File

@ -448,7 +448,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
unsigned char* rgbaPixelsReceived =
(unsigned char*)&m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0];
printf("pixel = %d\n", rgbaPixelsReceived[0]);
// printf("pixel = %d\n", rgbaPixelsReceived[0]);
for (int i=0;i<serverCmd.m_sendPixelDataArguments.m_numPixelsCopied*numBytesPerPixel;i++)
{
@ -461,7 +461,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
case CMD_CAMERA_IMAGE_FAILED:
{
b3Printf("Camera image FAILED\n");
b3Warning("Camera image FAILED\n");
break;
}

2
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@ -1003,7 +1003,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
if (clientCmd.m_requestPixelDataArguments.m_startPixelIndex==0)
{
printf("-------------------------------\nRendering\n");
// printf("-------------------------------\nRendering\n");
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES)!=0)
{

2
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
View File

@ -541,7 +541,7 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo
lightDirWorld.normalize();
printf("num m_swRenderInstances = %d\n", m_data->m_swRenderInstances.size());
// printf("num m_swRenderInstances = %d\n", m_data->m_swRenderInstances.size());
for (int i=0;i<m_data->m_swRenderInstances.size();i++)
{
TinyRendererObjectArray** visualArrayPtr = m_data->m_swRenderInstances.getAtIndex(i);

2
examples/TinyRenderer/TinyRenderer.cpp
View File

@ -265,7 +265,7 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
Vec3f localScaling(renderData.m_localScaling[0],renderData.m_localScaling[1],renderData.m_localScaling[2]);
Shader shader(model, light_dir_local, modelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling, model->getColorRGBA());
printf("Render %d triangles.\n",model->nfaces());
//printf("Render %d triangles.\n",model->nfaces());
for (int i=0; i<model->nfaces(); i++)
{

10
examples/pybullet/CMakeLists.txt
View File

@ -9,6 +9,15 @@ INCLUDE_DIRECTORIES(
SET(pybullet_SRCS
pybullet.c
../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
../../examples/SharedMemory/TinyRendererVisualShapeConverter.h
../../examples/OpenGLWindow/SimpleCamera.cpp
../../examples/OpenGLWindow/SimpleCamera.h
../../examples/TinyRenderer/geometry.cpp
../../examples/TinyRenderer/model.cpp
../../examples/TinyRenderer/tgaimage.cpp
../../examples/TinyRenderer/our_gl.cpp
../../examples/TinyRenderer/TinyRenderer.cpp
../../examples/SharedMemory/InProcessMemory.cpp
../../examples/SharedMemory/PhysicsClient.cpp
../../examples/SharedMemory/PhysicsClient.h
@ -48,7 +57,6 @@ SET(pybullet_SRCS
../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
../../examples/Importers/ImportURDFDemo/DefaultVisualShapeConverter.cpp
../../examples/MultiThreading/b3PosixThreadSupport.cpp
../../examples/MultiThreading/b3Win32ThreadSupport.cpp
../../examples/MultiThreading/b3ThreadSupportInterface.cpp

161
examples/pybullet/pybullet.c
View File

@ -134,7 +134,7 @@ pybullet_loadURDF(PyObject* self, PyObject* args)
float startOrnY = 0;
float startOrnZ = 0;
float startOrnW = 1;
printf("size=%d\n", size);
//printf("size=%d\n", size);
if (0==sm)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
@ -164,7 +164,7 @@ pybullet_loadURDF(PyObject* self, PyObject* args)
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryCommandHandle command = b3LoadUrdfCommandInit(sm, urdfFileName);
printf("urdf filename = %s\n", urdfFileName);
//printf("urdf filename = %s\n", urdfFileName);
//setting the initial position, orientation and other arguments are optional
b3LoadUrdfCommandSetStartPosition(command, startPosX,startPosY,startPosZ);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
@ -359,6 +359,157 @@ pybullet_getNumJoints(PyObject* self, PyObject* args)
}
}
static PyObject*
pybullet_setJointPositions(PyObject* self, PyObject* args)
{
Py_INCREF(Py_None);
return Py_None;
}
// const unsigned char* m_rgbColorData;//3*m_pixelWidth*m_pixelHeight bytes
// const float* m_depthValues;//m_pixelWidth*m_pixelHeight floats
static PyObject* pybullet_renderImage(PyObject* self, PyObject* args)
{
///request an image from a simulated camera, using a software renderer.
struct b3CameraImageData imageData;
PyObject* objViewMat,* objProjMat;
b3SharedMemoryCommandHandle command = b3InitRequestCameraImage(sm);
if (PyArg_ParseTuple(args, "OO", &objViewMat, &objProjMat))
{
PyObject* seq;
int i, len;
PyObject* item;
float viewMatrix[16];
float projectionMatrix[16];
int valid = 1;
{
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++)
{
item = PyList_GET_ITEM(seq, 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;
}
}
{
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)
{
//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++)
{
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;
}
}
Py_INCREF(Py_None);
return Py_None;
}
static PyMethodDef SpamMethods[] = {
{"loadURDF", pybullet_loadURDF, METH_VARARGS,
@ -378,6 +529,12 @@ static PyMethodDef SpamMethods[] = {
{"setGravity", pybullet_setGravity, METH_VARARGS,
"Set the gravity acceleration (x,y,z)."},
{"initializeJointPositions", pybullet_setJointPositions, METH_VARARGS,
"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"},
{"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."},