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Add shader for projective texture.

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yunfeibai
2018-02-11 21:29:02 -08:00
parent 08548e1ef0
commit 2947cd54ce
10 changed files with 85 additions and 33 deletions
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11
examples/pybullet/examples/projective_texture.py
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@@ -12,11 +12,10 @@ 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")
textureId = p.loadTexture("checker_blue_test.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
@@ -24,17 +23,17 @@ 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])
viewMatrixLeft = p.computeViewMatrix(cameraEyePosition=[0.045, 3.0, 3.0], cameraTargetPosition=[0.045,0,0], cameraUpVector=[0,0,1])
viewMatrixRight = p.computeViewMatrix(cameraEyePosition=[-0.045, 3.0, 3.0], cameraTargetPosition=[-0.045,0,0], cameraUpVector=[0,0,1])
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)
plt.imsave("left_image.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)
plt.imsave("right_image.png", right_img)
useRealTimeSimulation = 1