Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Add example for projective texture.

Browse Source
This commit is contained in:
yunfeibai
2018-02-11 13:50:45 -08:00
parent 0bebf86b50
commit 08548e1ef0
8 changed files with 163 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files

49
examples/pybullet/examples/projective_texture.py Normal file
View File

@@ -0,0 +1,49 @@
import pybullet as p
from time import sleep
from PIL import Image
import matplotlib.pyplot as plt
import numpy as np
physicsClient = p.connect(p.GUI)
p.setGravity(0,0,-10)
planeId = p.loadURDF("plane.urdf")
cubeStartPos = [0,0,1]
cubeStartOrientation = p.getQuaternionFromEuler([0,0,0])
boxId = p.loadURDF("cube.urdf",cubeStartPos, cubeStartOrientation)
cubePos, cubeOrn = p.getBasePositionAndOrientation(boxId)
textureId = p.loadTexture("kcam_vga_scaled_direct.png")
p.changeVisualShape(objectUniqueId=0, linkIndex=-1, textureUniqueId=textureId)
p.changeVisualShape(objectUniqueId=1, linkIndex=-1, textureUniqueId=textureId)
#p.resetDebugVisualizerCamera(cameraDistance=3, cameraYaw=30, cameraPitch=52, cameraTargetPosition=[10,0,0])
fov = 70
pixelWidth = 640
pixelHeight = 512
aspect = pixelWidth / pixelHeight;
nearPlane = 0.01
farPlane = 100
projectionMatrix = p.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane);
viewMatrixLeft = p.computeViewMatrix(cameraEyePosition=[0.045, 3.0, 3.0], cameraTargetPosition=[0.045,0,0], cameraUpVector=[0,0,1.0])
viewMatrixRight = p.computeViewMatrix(cameraEyePosition=[-0.045, 3.0, 3.0], cameraTargetPosition=[-0.045,0,0], cameraUpVector=[0,0,1.0])
leftImage = p.getCameraImage(width=640,height=512,viewMatrix=viewMatrixLeft,projectionMatrix=projectionMatrix,renderer=p.ER_BULLET_HARDWARE_OPENGL)
rightImage = p.getCameraImage(width=640,height=512,viewMatrix=viewMatrixRight,projectionMatrix=projectionMatrix,renderer=p.ER_BULLET_HARDWARE_OPENGL)
left_img = np.reshape(np.asarray(leftImage[2], dtype=np.float32), (512, 640, 4))
left_img /= 255
plt.imsave("left_image_new.png", left_img)
right_img = np.reshape(np.asarray(rightImage[2], dtype=np.float32), (512, 640, 4))
right_img /= 255
plt.imsave("right_image_new.png", right_img)
useRealTimeSimulation = 1
if (useRealTimeSimulation):
p.setRealTimeSimulation(1)
while 1:
if (useRealTimeSimulation):
p.setGravity(0,0,-10)
sleep(0.01) # Time in seconds.
else:
p.stepSimulation()