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Code Issues Releases Wiki Activity

allow pybullet with or without NumPy

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This commit is contained in:
Erwin Coumans 2016-09-11 11:09:51 +01:00
parent c75bbd4608
commit 5c76b01659
1 changed files with 52 additions and 1 deletions
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53
examples/pybullet/pybullet.c
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@ -2,12 +2,17 @@
#include "../SharedMemory/PhysicsDirectC_API.h"
#include "../SharedMemory/SharedMemoryInProcessPhysicsC_API.h"
#ifdef __APPLE__
#include <Python/Python.h>
#else
#include <Python.h>
#endif
#ifdef PYBULLET_USE_NUMPY
#include <numpy/arrayobject.h>
#endif
#if PY_MAJOR_VERSION >= 3
#define PyInt_FromLong PyLong_FromLong
#define PyString_FromString PyBytes_FromString
@ -1275,7 +1280,43 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args) {
PyObject* item2;
PyObject* pyResultList; // store 4 elements in this result: width,
// height, rgbData, depth
PyObject* pylistRGB;
#ifdef PYBULLET_USE_NUMPY
PyObject* pyRGB;
PyObject* pyDep;
PyObject* pySeg;
int i, j, p;
b3GetCameraImageData(sm, &imageData);
// TODO(hellojas): error handling if image size is 0
pyResultList = PyTuple_New(5);
PyTuple_SetItem(pyResultList, 0, PyInt_FromLong(imageData.m_pixelWidth));
PyTuple_SetItem(pyResultList, 1, PyInt_FromLong(imageData.m_pixelHeight));
int bytesPerPixel = 4; // Red, Green, Blue, and Alpha each 8 bit values
npy_intp rgb_dims[3] = {imageData.m_pixelHeight, imageData.m_pixelWidth,
bytesPerPixel};
npy_intp dep_dims[2] = {imageData.m_pixelHeight, imageData.m_pixelWidth};
npy_intp seg_dims[2] = {imageData.m_pixelHeight, imageData.m_pixelWidth};
pyRGB = PyArray_SimpleNew(3, rgb_dims, NPY_UINT8);
pyDep = PyArray_SimpleNew(2, dep_dims, NPY_FLOAT32);
pySeg = PyArray_SimpleNew(2, seg_dims, NPY_INT32);
memcpy(PyArray_DATA(pyRGB), imageData.m_rgbColorData,
imageData.m_pixelHeight * imageData.m_pixelWidth * bytesPerPixel);
memcpy(PyArray_DATA(pyDep), imageData.m_depthValues,
imageData.m_pixelHeight * imageData.m_pixelWidth);
memcpy(PyArray_DATA(pySeg), imageData.m_segmentationMaskValues,
imageData.m_pixelHeight * imageData.m_pixelWidth);
PyTuple_SetItem(pyResultList, 2, pyRGB);
PyTuple_SetItem(pyResultList, 3, pyDep);
PyTuple_SetItem(pyResultList, 4, pySeg);
#else//PYBULLET_USE_NUMPY
PyObject* pylistRGB;
PyObject* pylistDep;
PyObject* pylistSeg;
@ -1324,6 +1365,9 @@ 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;
#endif//PYBULLET_USE_NUMPY
return pyResultList;
}
}
@ -1862,6 +1906,13 @@ initpybullet(void)
SpamError = PyErr_NewException("pybullet.error", NULL, NULL);
Py_INCREF(SpamError);
PyModule_AddObject(m, "error", SpamError);
#ifdef PYBULLET_USE_NUMPY
// Initialize numpy array.
import_array();
#endif //PYBULLET_USE_NUMPY
#if PY_MAJOR_VERSION >= 3
return m;
#endif