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fix pybullet

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This commit is contained in:
Erwin Coumans 2016-08-11 15:58:51 -07:00
parent 4bb488f65e
commit 4abe083388
1 changed files with 15 additions and 4 deletions
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19
examples/pybullet/pybullet.c
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@ -1205,11 +1205,13 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args)
PyObject* pyResultList;//store 4 elements in this result: width, height, rgbData, depth
PyObject *pylistRGB;
PyObject* pylistDep;
PyObject* pylistSeg;
int i, j, p;
b3GetCameraImageData(sm, &imageData);
//TODO(hellojas): error handling if image size is 0
pyResultList = PyTuple_New(4);
pyResultList = PyTuple_New(5);
PyTuple_SetItem(pyResultList, 0, PyInt_FromLong(imageData.m_pixelWidth));
PyTuple_SetItem(pyResultList, 1, PyInt_FromLong(imageData.m_pixelHeight));
@ -1221,15 +1223,23 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args)
int num=bytesPerPixel*imageData.m_pixelWidth*imageData.m_pixelHeight;
pylistRGB = PyTuple_New(num);
pylistDep = PyTuple_New(imageData.m_pixelWidth*imageData.m_pixelHeight);
pylistSeg = PyTuple_New(imageData.m_pixelWidth*imageData.m_pixelHeight);
for (i=0;i<imageData.m_pixelWidth;i++)
{
for (j=0;j<imageData.m_pixelHeight;j++)
{
// TODO(hellojas): validate depth values make sense
int depIndex = i+j*imageData.m_pixelWidth;
item = PyFloat_FromDouble(imageData.m_depthValues[depIndex]);
PyTuple_SetItem(pylistDep, depIndex, item);
{
item = PyFloat_FromDouble(imageData.m_depthValues4[depIndex]);
PyTuple_SetItem(pylistDep, depIndex, item);
}
{
item2 = PyLong_FromLong(imageData.m_segmentationMaskValues[depIndex]);
PyTuple_SetItem(pylistSeg, depIndex, item2);
}
for (p=0; p<bytesPerPixel; p++)
{
int pixelIndex = bytesPerPixel*(i+j*imageData.m_pixelWidth)+p;
@ -1242,6 +1252,7 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args)
PyTuple_SetItem(pyResultList, 2,pylistRGB);
PyTuple_SetItem(pyResultList, 3,pylistDep);
PyTuple_SetItem(pyResultList, 4,pylistSeg);
return pyResultList;
}
}