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pybullet.ER_BULLET_HARDWARE_OPENGL and ER_TINY_RENDERER exposed (for getCameraImage, renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)

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improve performance of getCameraImage when using ER_BULLET_HARDWARE_OPENGL
This commit is contained in:
Erwin Coumans 2017-03-09 17:42:59 -08:00
parent 4ea9fa54bb
commit ca31bb2bbd
4 changed files with 58 additions and 32 deletions
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64
examples/ExampleBrowser/OpenGLGuiHelper.cpp
View File

@ -427,47 +427,67 @@ void OpenGLGuiHelper::copyCameraImageData(const float viewMatrix[16], const floa
SimpleCamera tempCam;
getRenderInterface()->setActiveCamera(&tempCam);
getRenderInterface()->getActiveCamera()->setVRCamera(viewMatrix,projectionMatrix);
getRenderInterface()->renderScene();
{
BT_PROFILE("renderScene");
getRenderInterface()->renderScene();
}
getRenderInterface()->setActiveCamera(oldCam);
{
BT_PROFILE("copy pixels");
btAlignedObjectArray<unsigned char> sourceRgbaPixelBuffer;
btAlignedObjectArray<float> sourceDepthBuffer;
//copy the image into our local cache
sourceRgbaPixelBuffer.resize(sourceWidth*sourceHeight*numBytesPerPixel);
sourceDepthBuffer.resize(sourceWidth*sourceHeight);
m_data->m_glApp->getScreenPixels(&(sourceRgbaPixelBuffer[0]),sourceRgbaPixelBuffer.size(), &sourceDepthBuffer[0],sizeof(float)*sourceDepthBuffer.size());
{
BT_PROFILE("getScreenPixels");
m_data->m_glApp->getScreenPixels(&(sourceRgbaPixelBuffer[0]),sourceRgbaPixelBuffer.size(), &sourceDepthBuffer[0],sizeof(float)*sourceDepthBuffer.size());
}
m_data->m_rgbaPixelBuffer1.resize(destinationWidth*destinationHeight*numBytesPerPixel);
m_data->m_depthBuffer1.resize(destinationWidth*destinationHeight);
//rescale and flip
{
BT_PROFILE("resize and flip");
for (int j=0;j<destinationHeight;j++)
{
for (int i=0;i<destinationWidth;i++)
{
int xIndex = int(float(i)*(float(sourceWidth)/float(destinationWidth)));
int yIndex = int(float(destinationHeight-1-j)*(float(sourceHeight)/float(destinationHeight)));
btClamp(xIndex,0,sourceWidth);
btClamp(yIndex,0,sourceHeight);
int bytesPerPixel = 4; //RGBA
for (int i=0;i<destinationWidth;i++)
{
for (int j=0;j<destinationHeight;j++)
{
int xIndex = int(float(i)*(float(sourceWidth)/float(destinationWidth)));
int yIndex = int(float(destinationHeight-1-j)*(float(sourceHeight)/float(destinationHeight)));
btClamp(xIndex,0,sourceWidth);
btClamp(yIndex,0,sourceHeight);
int bytesPerPixel = 4; //RGBA
int sourcePixelIndex = (xIndex+yIndex*sourceWidth)*bytesPerPixel;
int sourceDepthIndex = xIndex+yIndex*sourceWidth;
#define COPY4PIXELS 1
#ifdef COPY4PIXELS
int* dst = (int*)&m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+0];
int* src = (int*)&sourceRgbaPixelBuffer[sourcePixelIndex+0];
*dst = *src;
int sourcePixelIndex = (xIndex+yIndex*sourceWidth)*bytesPerPixel;
int sourceDepthIndex = xIndex+yIndex*sourceWidth;
#else
m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+0] = sourceRgbaPixelBuffer[sourcePixelIndex+0];
m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+1] = sourceRgbaPixelBuffer[sourcePixelIndex+1];
m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+2] = sourceRgbaPixelBuffer[sourcePixelIndex+2];
m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+3] = 255;
#endif
if (depthBuffer)
{
m_data->m_depthBuffer1[i+j*destinationWidth] = sourceDepthBuffer[sourceDepthIndex];
}
m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+0] = sourceRgbaPixelBuffer[sourcePixelIndex+0];
m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+1] = sourceRgbaPixelBuffer[sourcePixelIndex+1];
m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+2] = sourceRgbaPixelBuffer[sourcePixelIndex+2];
m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+3] = 255;
m_data->m_depthBuffer1[i+j*destinationWidth] = sourceDepthBuffer[sourceDepthIndex];
}
}
}
}
}
}
if (pixelsRGBA)
{
BT_PROFILE("copy rgba pixels");
for (int i=0;i<numRequestedPixels*numBytesPerPixel;i++)
{
pixelsRGBA[i] = m_data->m_rgbaPixelBuffer1[i+startPixelIndex*numBytesPerPixel];
@ -475,6 +495,8 @@ void OpenGLGuiHelper::copyCameraImageData(const float viewMatrix[16], const floa
}
if (depthBuffer)
{
BT_PROFILE("copy depth buffer pixels");
for (int i=0;i<numRequestedPixels;i++)
{
depthBuffer[i] = m_data->m_depthBuffer1[i+startPixelIndex];

4
examples/pybullet/pybullet.c
View File

@ -5380,6 +5380,10 @@ initpybullet(void)
PyModule_AddIntConstant(m, "COV_ENABLE_GUI", COV_ENABLE_GUI);
PyModule_AddIntConstant(m, "COV_ENABLE_SHADOWS", COV_ENABLE_SHADOWS);
PyModule_AddIntConstant(m, "COV_ENABLE_WIREFRAME", COV_ENABLE_WIREFRAME);
PyModule_AddIntConstant(m, "ER_TINY_RENDERER", ER_TINY_RENDERER);
PyModule_AddIntConstant(m, "ER_BULLET_HARDWARE_OPENGL", ER_BULLET_HARDWARE_OPENGL);
PyModule_AddIntConstant(m,"B3G_F1",B3G_F1);
PyModule_AddIntConstant(m,"B3G_F2",B3G_F2);
PyModule_AddIntConstant(m,"B3G_F3",B3G_F3);

3
examples/pybullet/testrender.py
View File

@ -29,7 +29,8 @@ for pitch in range (0,360,10) :
viewMatrix = pybullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex)
aspect = pixelWidth / pixelHeight;
projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane);
img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, lightDirection,lightColor)
#getCameraImage can also use renderer=pybullet.ER_BULLET_HARDWARE_OPENGL
img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, lightDirection,lightColor,renderer=pybullet.ER_TINY_RENDERER)
w=img_arr[0]
h=img_arr[1]
rgb=img_arr[2]

17
examples/pybullet/testrender_np.py
View File

@ -6,7 +6,7 @@ import matplotlib.pyplot as plt
import pybullet
import time
pybullet.connect(pybullet.DIRECT)
pybullet.connect(pybullet.GUI)
pybullet.loadURDF("r2d2.urdf")
camTargetPos = [0,0,0]
@ -18,8 +18,8 @@ pitch = 10.0
roll=0
upAxisIndex = 2
camDistance = 4
pixelWidth = 1920
pixelHeight = 1080
pixelWidth = 1024
pixelHeight = 768
nearPlane = 0.01
farPlane = 1000
@ -31,7 +31,7 @@ for pitch in range (0,360,10) :
viewMatrix = pybullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex)
aspect = pixelWidth / pixelHeight;
projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane);
img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, [0,1,0])
img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, [0,1,0],renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
stop = time.time()
print ("renderImage %f" % (stop - start))
@ -40,13 +40,12 @@ for pitch in range (0,360,10) :
rgb=img_arr[2] #color data RGB
dep=img_arr[3] #depth data
print 'width = %d height = %d' % (w,h)
print ('width = %d height = %d' % (w,h))
#note that sending the data to matplotlib is really slow
#show
plt.imshow(rgb,interpolation='none')
#plt.show()
plt.pause(0.01)
plt.imshow(rgb,interpolation='none')
plt.pause(0.001)
main_stop = time.time()