Added comment about why H x W differ from expected

HumanED · Jan 2, 2022 · 0e114e9 · 0e114e9
1 parent 72dc1bb
commit 0e114e9
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/examples/pybullet/examples/pointCloudFromCameraImage.py b/examples/pybullet/examples/pointCloudFromCameraImage.py
@@ -73,7 +73,9 @@ def getRayFromTo(mouseX, mouseY):
 
 img = p.getCameraImage(imgW, imgH, renderer=p.ER_BULLET_HARDWARE_OPENGL)
 rgbBuffer = np.reshape(img[2], (imgH, imgW, 4))
-depthBuffer = np.reshape(img[3], [imgW, imgH])
+# Note: this depth buffer's reshaping does not match the [w, h] convention for
+# OpenGL depth buffers.  See getCameraImageTest.py for an OpenGL depth buffer
+depthBuffer = np.reshape(img[3], [imgH, imgW])
 print("rgbBuffer.shape=", rgbBuffer.shape)
 print("depthBuffer.shape=", depthBuffer.shape)