Merge pull request #1456 from erwincoumans/master

pybullet: fix numpy compile issue on Windows, another fix

examples/pybullet/examples/testrender.py

@@ -1,48 +1,70 @@
-import numpy as np
-import matplotlib.pyplot as plt
-import pybullet
 
-pybullet.connect(pybullet.GUI)
+#testrender.py is a bit slower than testrender_np.py: pixels are copied from C to Python one by one
-pybullet.loadURDF("plane.urdf")
+
+
+import matplotlib.pyplot as plt 
+import pybullet
+import time
+
+plt.ion()
+
+img = [[1,2,3]*50]*100#np.random.rand(200, 320)
+#img = [tandard_normal((50,100))
+image = plt.imshow(img,interpolation='none',animated=True,label="blah")
+ax = plt.gca()
+
+
+pybullet.connect(pybullet.DIRECT)
+pybullet.loadURDF("plane.urdf",[0,0,-1])
 pybullet.loadURDF("r2d2.urdf")
 
-camTargetPos = [0.,0.,0.]
+pybullet.setGravity(0,0,-10)
+camTargetPos = [0,0,0]
 cameraUp = [0,0,1]
 cameraPos = [1,1,1]
-yaw = 40
+
-pitch = 10.0
+pitch = -10.0
 
 roll=0
 upAxisIndex = 2
 camDistance = 4
 pixelWidth = 320
-pixelHeight = 240
+pixelHeight = 200
 nearPlane = 0.01
-farPlane = 1000
+farPlane = 100
-lightDirection = [0.4,0.4,0]
+
-lightColor = [.3,.3,.3]#1,1,1]#optional argument
 fov = 60
 
-#img_arr = pybullet.renderImage(pixelWidth, pixelHeight)
+main_start = time.time()
-#renderImage(w, h, view[16], projection[16])
+while(1): 
-#img_arr = pybullet.renderImage(pixelWidth, pixelHeight, cameraPos, camTargetPos, cameraUp, nearPlane, farPlane)
+  for yaw in range (0,360,10) :
-for pitch in range (0,360,10) :
+    pybullet.stepSimulation()
+    start = time.time()
     viewMatrix = pybullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex)
     aspect = pixelWidth / pixelHeight;
     projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane);
-    #getCameraImage can also use renderer=pybullet.ER_BULLET_HARDWARE_OPENGL
+    img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, shadow=1,lightDirection=[1,1,1],renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
-    img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, lightAmbientCoeff = 0.3, lightDiffuseCoeff = 0.4, shadow=1, renderer=pybullet.ER_TINY_RENDERER)
+    stop = time.time()
-    w=img_arr[0]
+    print ("renderImage %f" % (stop - start))
-    h=img_arr[1]
+
-    rgb=img_arr[2]
+    w=img_arr[0] #width of the image, in pixels
-    dep=img_arr[3]
+    h=img_arr[1] #height of the image, in pixels
-    #print 'width = %d height = %d' % (w,h)
+    rgb=img_arr[2] #color data RGB
-    # reshape creates np array
+    dep=img_arr[3] #depth data
-    np_img_arr = np.reshape(rgb, (h, w, 4))
+    #print(rgb)
-    np_img_arr = np_img_arr*(1./255.)
+    print ('width = %d height = %d' % (w,h))
-    #show
+
-    plt.imshow(np_img_arr,interpolation='none')
+    #note that sending the data using imshow to matplotlib is really slow, so we use set_data
-    
+
+    #plt.imshow(rgb,interpolation='none')
+    image.set_data(rgb)
+    ax.plot([0])
+    #plt.draw()
+    #plt.show()
     plt.pause(0.01)
+    
+main_stop = time.time()
+
+print ("Total time %f" % (main_stop - main_start))
 
 pybullet.resetSimulation()

examples/pybullet/examples/testrender_np.py

@@ -1,37 +1,53 @@
 
-#make sure to compile pybullet with PYBULLET_USE_NUMPY enabled, otherwise use testrender.py (slower but compatible without numpy)
+#make sure to compile pybullet with PYBULLET_USE_NUMPY enabled
+#otherwise use testrender.py (slower but compatible without numpy)
+#you can also use GUI mode, for faster OpenGL rendering (instead of TinyRender CPU)
 
 import numpy as np
 import matplotlib.pyplot as plt
 import pybullet
 import time
 
-pybullet.connect(pybullet.GUI)
+
+plt.ion()
+
+img = np.random.rand(200, 320)
+#img = [tandard_normal((50,100))
+image = plt.imshow(img,interpolation='none',animated=True,label="blah")
+ax = plt.gca()
+    
+#pybullet.connect(pybullet.GUI)
+pybullet.connect(pybullet.DIRECT)
+pybullet.loadURDF("plane.urdf",[0,0,-1])
 pybullet.loadURDF("r2d2.urdf")
 
 camTargetPos = [0,0,0]
 cameraUp = [0,0,1]
 cameraPos = [1,1,1]
-yaw = 40
+pybullet.setGravity(0,0,-10)
-pitch = 10.0
+
+pitch = -10.0
 
 roll=0
 upAxisIndex = 2
 camDistance = 4
-pixelWidth = 1024
+pixelWidth = 320
-pixelHeight = 768
+pixelHeight = 200
 nearPlane = 0.01
-farPlane = 1000
+farPlane = 100
 
 fov = 60
 
 main_start = time.time()
-for pitch in range (0,360,10) :
+while (1):
+  for yaw in range (0,360,10):
+    pybullet.stepSimulation()
     start = time.time()
+    
     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],renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
+    img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, shadow=1,lightDirection=[1,1,1],renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
     stop = time.time()
     print ("renderImage %f" % (stop - start))
 
@@ -44,8 +60,21 @@ for pitch in range (0,360,10) :
 
     #note that sending the data to matplotlib is really slow
 
-    plt.imshow(rgb,interpolation='none')
+    #reshape is not needed
-    plt.pause(0.001)
+    #np_img_arr = np.reshape(rgb, (h, w, 4))
+    #np_img_arr = np_img_arr*(1./255.)
+    
+    #show
+    #plt.imshow(np_img_arr,interpolation='none',extent=(0,1600,0,1200))
+    #image = plt.imshow(np_img_arr,interpolation='none',animated=True,label="blah")
+
+    image.set_data(rgb)#np_img_arr)
+    ax.plot([0])
+    #plt.draw()
+    #plt.show()
+    plt.pause(0.01)
+    #image.draw()
+    
 
 main_stop = time.time()
 

examples/pybullet/pybullet.c

@@ -5987,7 +5987,7 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
 		statusType = b3GetStatusType(statusHandle);
 		if (statusType == CMD_CAMERA_IMAGE_COMPLETED)
 		{
-			PyObject* item2;
+
 			PyObject* pyResultList;  // store 4 elements in this result: width,
 									 // height, rgbData, depth
 
@@ -5996,13 +5996,12 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
 			PyObject* pyDep;
 			PyObject* pySeg;
 
-			int i, j, p;
 			int bytesPerPixel = 4;  // Red, Green, Blue, and Alpha each 8 bit values
 
 
 			b3GetCameraImageData(sm, &imageData);
 			// TODO(hellojas): error handling if image size is 0
-			
+			{
 			npy_intp rgb_dims[3] = {imageData.m_pixelHeight, imageData.m_pixelWidth,
 									bytesPerPixel};
 			npy_intp dep_dims[2] = {imageData.m_pixelHeight, imageData.m_pixelWidth};
@@ -6027,7 +6026,9 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
 			PyTuple_SetItem(pyResultList, 2, pyRGB);
 			PyTuple_SetItem(pyResultList, 3, pyDep);
 			PyTuple_SetItem(pyResultList, 4, pySeg);
+			}
 #else   //PYBULLET_USE_NUMPY
+			PyObject* item2;
 			PyObject* pylistRGB;
 			PyObject* pylistDep;
 			PyObject* pylistSeg;
@@ -6417,7 +6418,7 @@ static PyObject* pybullet_renderImageObsolete(PyObject* self, PyObject* args)
 		statusType = b3GetStatusType(statusHandle);
 		if (statusType == CMD_CAMERA_IMAGE_COMPLETED)
 		{
-			PyObject* item2;
+			
 			PyObject* pyResultList;  // store 4 elements in this result: width,
 									 // height, rgbData, depth
 
@@ -6426,7 +6427,7 @@ static PyObject* pybullet_renderImageObsolete(PyObject* self, PyObject* args)
 			PyObject* pyDep;
 			PyObject* pySeg;
 
-			int i, j, p;
+			
 			int bytesPerPixel = 4;  // Red, Green, Blue, and Alpha each 8 bit values
 
 			b3GetCameraImageData(sm, &imageData);
@@ -6434,7 +6435,7 @@ static PyObject* pybullet_renderImageObsolete(PyObject* self, PyObject* args)
 			pyResultList = PyTuple_New(5);
 			PyTuple_SetItem(pyResultList, 0, PyInt_FromLong(imageData.m_pixelWidth));
 			PyTuple_SetItem(pyResultList, 1, PyInt_FromLong(imageData.m_pixelHeight));
-
+			{
 			npy_intp rgb_dims[3] = {imageData.m_pixelHeight, imageData.m_pixelWidth,
 									bytesPerPixel};
 			npy_intp dep_dims[2] = {imageData.m_pixelHeight, imageData.m_pixelWidth};
@@ -6454,7 +6455,9 @@ static PyObject* pybullet_renderImageObsolete(PyObject* self, PyObject* args)
 			PyTuple_SetItem(pyResultList, 2, pyRGB);
 			PyTuple_SetItem(pyResultList, 3, pyDep);
 			PyTuple_SetItem(pyResultList, 4, pySeg);
+			}
 #else   //PYBULLET_USE_NUMPY
+			PyObject* item2;
 			PyObject* pylistRGB;
 			PyObject* pylistDep;
 			PyObject* pylistSeg;

setup.py

@@ -442,7 +442,7 @@ print("-----")
 
 setup(
 	name = 'pybullet',
-	version='1.7.2',
+	version='1.7.3',
 	description='Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
 	long_description='pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
 	url='https://github.com/bulletphysics/bullet3',