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pybullet testrender.py/testrender_np.py examples, improve matplotlib rendering performance (headless DIRECT and OpenGL/GUI)

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erwincoumans
2017-11-24 18:09:20 -08:00
parent b1c2bdc72a
commit c5f79fe979
2 changed files with 65 additions and 41 deletions
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38
examples/pybullet/examples/testrender_np.py
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@@ -1,37 +1,48 @@
#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
from pylab import *
pybullet.connect(pybullet.GUI)
ion()
img = standard_normal((50,100))
image = imshow(img,interpolation='none',animated=True,label="blah")
#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
pitch = 10.0
pitch = -10.0
roll=0
upAxisIndex = 2
camDistance = 4
pixelWidth = 1024
pixelHeight = 768
pixelWidth = 320
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):
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 +55,13 @@ for pitch in range (0,360,10) :
#note that sending the data to matplotlib is really slow
plt.imshow(rgb,interpolation='none')
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.set_data(np_img_arr)
#draw()
plt.pause(0.0001)
main_stop = time.time()