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add pybullet getCameraImage, replacing renderImage, cleaner API:

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always pass in width, hight and viewMatrix, projectionMatrix, optionally lightDir
added helper methods computeViewMatrix, computeViewMatrixFromYawPitchRoll, computeProjectionMatrix, computeProjectionMatrixFOV
see Bullet/examples/pybullet/testrender.py + testrender_np.py for example use
add missing base_link.stl for husky.urdf
This commit is contained in:
erwincoumans
2016-11-17 15:15:52 -08:00
parent ee7a5a470f
commit 8c69fa13ca
11 changed files with 664 additions and 261 deletions
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39
examples/pybullet/testrender_np.py
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@@ -1,3 +1,6 @@
#make sure to compile pybullet with PYBULLET_USE_NUMPY enabled, otherwise use testrender.py (slower but compatible without numpy)
import numpy as np
import matplotlib.pyplot as plt
import pybullet
@@ -23,28 +26,30 @@ farPlane = 1000
fov = 60
main_start = time.time()
#img_arr = pybullet.renderImage(pixelWidth, pixelHeight)
#renderImage(w, h, view[16], projection[16])
#img_arr = pybullet.renderImage(pixelWidth, pixelHeight, cameraPos, camTargetPos, cameraUp, nearPlane, farPlane)
for pitch in range (0,360,10) :
start = time.time()
img_arr = pybullet.renderImage(pixelWidth, pixelHeight, camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex, nearPlane, farPlane, fov)
stop = time.time()
print "renderImage %f" % (stop - start)
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])
stop = time.time()
print ("renderImage %f" % (stop - start))
w=img_arr[0] #width of the image, in pixels
h=img_arr[1] #height of the image, in pixels
rgb=img_arr[2] #color data RGB
dep=img_arr[3] #depth data
w=img_arr[0] #width of the image, in pixels
h=img_arr[1] #height of the image, in pixels
rgb=img_arr[2] #color data RGB
dep=img_arr[3] #depth data
#print 'width = %d height = %d' % (w,h)
print 'width = %d height = %d' % (w,h)
#show
plt.imshow(rgb,interpolation='none')
#plt.show()
plt.pause(0.01)
#note that sending the data to matplotlib is really slow
#show
plt.imshow(rgb,interpolation='none')
#plt.show()
plt.pause(0.01)
main_stop = time.time()
print "Total time %f" % (main_stop - main_start)
print ("Total time %f" % (main_stop - main_start))
pybullet.resetSimulation()