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https://github.com/bulletphysics/bullet3
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Merge pull request #952 from YunfeiBai/master
Add depth image when using hardware renderer.
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commit
32b15d7aee
@ -36,6 +36,9 @@ struct CommonCameraInterface
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virtual void setAspectRatio(float ratio) = 0;
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virtual float getAspectRatio() const = 0;
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virtual float getCameraFrustumFar() const = 0;
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virtual float getCameraFrustumNear() const = 0;
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};
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#endif //COMMON_CAMERA_INTERFACE_H
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@ -437,10 +437,15 @@ void OpenGLGuiHelper::copyCameraImageData(const float viewMatrix[16], const floa
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int bytesPerPixel = 4; //RGBA
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int sourcePixelIndex = (xIndex+yIndex*sourceWidth)*bytesPerPixel;
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int sourceDepthIndex = xIndex+yIndex*sourceWidth;
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m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+0] = sourceRgbaPixelBuffer[sourcePixelIndex+0];
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m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+1] = sourceRgbaPixelBuffer[sourcePixelIndex+1];
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m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+2] = sourceRgbaPixelBuffer[sourcePixelIndex+2];
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m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+3] = 255;
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m_data->m_depthBuffer1[i+j*destinationWidth] = sourceDepthBuffer[sourceDepthIndex];
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}
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}
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}
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@ -456,7 +461,7 @@ void OpenGLGuiHelper::copyCameraImageData(const float viewMatrix[16], const floa
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{
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for (int i=0;i<numRequestedPixels;i++)
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{
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depthBuffer[i] = m_data->m_depthBuffer1[i];
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depthBuffer[i] = m_data->m_depthBuffer1[i+startPixelIndex];
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}
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}
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if (numPixelsCopied)
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@ -383,3 +383,13 @@ float SimpleCamera::getAspectRatio() const
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{
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return m_data->m_aspect;
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}
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float SimpleCamera::getCameraFrustumFar() const
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{
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return m_data->m_frustumZFar;
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}
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float SimpleCamera::getCameraFrustumNear() const
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{
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return m_data->m_frustumZNear;
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}
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@ -47,6 +47,9 @@ struct SimpleCamera : public CommonCameraInterface
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virtual void setAspectRatio(float ratio);
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virtual float getAspectRatio() const;
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virtual float getCameraFrustumFar() const;
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virtual float getCameraFrustumNear() const;
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};
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#endif //SIMPLE_CAMERA_H
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#endif //SIMPLE_CAMERA_H
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@ -958,7 +958,16 @@ void TinyRendererVisualShapeConverter::copyCameraImageData(unsigned char* pixels
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{
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if (depthBuffer)
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{
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depthBuffer[i] = m_data->m_depthBuffer[i+startPixelIndex];
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float distance = -m_data->m_depthBuffer[i+startPixelIndex];
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float farPlane = m_data->m_camera.getCameraFrustumFar();
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float nearPlane = m_data->m_camera.getCameraFrustumNear();
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btClamp(distance,nearPlane,farPlane);
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// the depth buffer value is between 0 and 1
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float a = farPlane / (farPlane - nearPlane);
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float b = farPlane * nearPlane / (nearPlane - farPlane);
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depthBuffer[i] = a + b / distance;
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}
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if (segmentationMaskBuffer)
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{
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