Merge pull request bulletphysics#4116 from jamesbraza/fixing-imaging-…

…examples Fixing pybullet example on getting a point cloud
HumanED · Jan 12, 2022 · 478da74 · 478da74
2 parents dc72081 + 51a5aa8
commit 478da74
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Showing 2 changed files with 5 additions and 2 deletions.
diff --git a/examples/pybullet/examples/getCameraImageTest.py b/examples/pybullet/examples/getCameraImageTest.py
@@ -31,6 +31,7 @@
                           projection_matrix,
                           shadow=True,
                           renderer=p.ER_BULLET_HARDWARE_OPENGL)
+# NOTE: the ordering of height and width change based on the conversion
 rgb_opengl = np.reshape(images[2], (height, width, 4)) * 1. / 255.
 depth_buffer_opengl = np.reshape(images[3], [width, height])
 depth_opengl = far * near / (far - (far - near) * depth_buffer_opengl)

diff --git a/examples/pybullet/examples/pointCloudFromCameraImage.py b/examples/pybullet/examples/pointCloudFromCameraImage.py
@@ -72,8 +72,10 @@ def getRayFromTo(mouseX, mouseY):
 imgH = int(height / 10)
 
 img = p.getCameraImage(imgW, imgH, renderer=p.ER_BULLET_HARDWARE_OPENGL)
-rgbBuffer = img[2]
-depthBuffer = img[3]
+rgbBuffer = np.reshape(img[2], (imgH, imgW, 4))
+# 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)