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Set the perspective projection for projective texture mapping. Change the demo to two bears with the same view projection matrix for the camera and the projector.

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yunfeibai
2018-02-20 18:32:09 -08:00
parent ef0ae4935b
commit 5494aa72fa
6 changed files with 53 additions and 58 deletions
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35
examples/pybullet/examples/projective_texture.py
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@@ -6,34 +6,17 @@ 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("checker_blue.png")
p.setGravity(0,0,0)
bearStartPos1 = [-3.3,0,0]
bearStartOrientation1 = p.getQuaternionFromEuler([0,0,0])
bearId1 = p.loadURDF("teddy_large.urdf", bearStartPos1, bearStartOrientation1)
bearStartPos2 = [0,0,0]
bearStartOrientation2 = p.getQuaternionFromEuler([0,0,0])
bearId2 = p.loadURDF("teddy_large.urdf",bearStartPos2, bearStartOrientation2)
textureId = p.loadTexture("checker_grid.jpg")
p.changeVisualShape(objectUniqueId=0, linkIndex=-1, textureUniqueId=textureId)
p.changeVisualShape(objectUniqueId=1, linkIndex=-1, textureUniqueId=textureId)
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])
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.png", left_img)
right_img = np.reshape(np.asarray(rightImage[2], dtype=np.float32), (512, 640, 4))
right_img /= 255
plt.imsave("right_image.png", right_img)
useRealTimeSimulation = 1
@@ -42,7 +25,7 @@ if (useRealTimeSimulation):
while 1:
if (useRealTimeSimulation):
p.setGravity(0,0,-10)
p.setGravity(0,0,0)
sleep(0.01) # Time in seconds.
else:
p.stepSimulation()