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https://github.com/bulletphysics/bullet3
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Merge pull request #672 from hellojas/renderImage
Render image with camera_pos, target_pos, camera_up vector as arguments
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commit
9d629bdcd7
@ -942,6 +942,32 @@ static int pybullet_internalSetMatrix(PyObject* objMat, float matrix[16])
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return 0;
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return 0;
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}
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}
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// internal function to set a float vector[3]
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// used to initialize camera position with
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// a view and projection matrix in renderImage()
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//
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// // Args:
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// matrix - float[16] which will be set by values from objMat
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static int pybullet_internalSetVector(PyObject* objMat, float vector[3])
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{
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int i, len;
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PyObject* seq;
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seq = PySequence_Fast(objMat, "expected a sequence");
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len = PySequence_Size(objMat);
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if (len==3)
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{
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for (i = 0; i < len; i++)
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{
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vector[i] = pybullet_internalGetFloatFromSequence(seq,i);
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}
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Py_DECREF(seq);
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return 1;
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}
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Py_DECREF(seq);
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return 0;
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}
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// Render an image from the current timestep of the simulation
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// Render an image from the current timestep of the simulation
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//
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//
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// Examples:
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// Examples:
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@ -961,11 +987,22 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args)
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///request an image from a simulated camera, using a software renderer.
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///request an image from a simulated camera, using a software renderer.
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struct b3CameraImageData imageData;
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struct b3CameraImageData imageData;
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PyObject* objViewMat,* objProjMat;
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PyObject* objViewMat,* objProjMat;
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PyObject* objCameraPos,*objTargetPos,* objCameraUp;
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int width, height;
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int width, height;
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int size= PySequence_Size(args);
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int size= PySequence_Size(args);
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float viewMatrix[16];
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float viewMatrix[16];
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float projectionMatrix[16];
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float projectionMatrix[16];
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float cameraPos[3];
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float targetPos[3];
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float cameraUp[3];
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float left, right, bottom, top, aspect;
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float nearVal, farVal;
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// float nearVal = .001;
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// float farVal = 1000;
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// inialize cmd
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// inialize cmd
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b3SharedMemoryCommandHandle command;
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b3SharedMemoryCommandHandle command;
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@ -1001,6 +1038,47 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args)
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}
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}
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}
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}
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if (size==5) // set camera resoluation and view and projection matrix
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{
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if (PyArg_ParseTuple(args, "iiOOOii", &width, &height, &objCameraPos, &objTargetPos, &objCameraUp, &nearVal, &farVal))
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{
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b3RequestCameraImageSetPixelResolution(command,width,height);
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if (pybullet_internalSetVector(objCameraPos, cameraPos) &&
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pybullet_internalSetVector(objTargetPos, targetPos) &&
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pybullet_internalSetVector(objCameraUp, cameraUp))
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{
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// printf("\ncamera pos:\n");
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// for(int i =0;i<3; i++) {
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// printf(" %f", cameraPos[i]);
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// }
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//
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// printf("\ntargetPos pos:\n");
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// for(int i =0;i<3; i++) {
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// printf(" %f", targetPos[i]);
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// }
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//
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// printf("\ncameraUp pos:\n");
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// for(int i =0;i<3; i++) {
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// printf(" %f", cameraUp[i]);
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// }
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// printf("\n");
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b3RequestCameraImageSetViewMatrix(command, cameraPos, targetPos, cameraUp);
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// printf("\n");
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}
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aspect = width/height;
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left = -aspect * nearVal;
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right = aspect * nearVal;
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bottom = -nearVal;
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top = nearVal;
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b3RequestCameraImageSetProjectionMatrix(command, left, right, bottom, top, nearVal, farVal);
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// printf("\n");
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}
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}
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if (b3CanSubmitCommand(sm))
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if (b3CanSubmitCommand(sm))
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{
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{
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b3SharedMemoryStatusHandle statusHandle;
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b3SharedMemoryStatusHandle statusHandle;
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@ -1397,6 +1475,13 @@ static PyMethodDef SpamMethods[] = {
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//collision info
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//collision info
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//raycast info
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//raycast info
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//applyBaseForce
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//applyLinkForce
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{"renderImage", pybullet_renderImage, METH_VARARGS,
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"Render an image (given the pixel resolution width, height, view matrix, projection matrix, near and far vlues), and return the 8-8-8bit RGB pixel data and floating point depth values"},
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{NULL, NULL, 0, NULL} /* Sentinel */
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{NULL, NULL, 0, NULL} /* Sentinel */
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};
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};
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