From c75bbd460839be6d85d088008a8263a615d349a0 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Sun, 11 Sep 2016 11:09:10 +0100
Subject: [PATCH] allow pybullet with or without numpy using PYBULLET_USE_NUMPY
 define (in build system)

---
 examples/pybullet/testrender_np.py | 50 ++++++++++++++++++++++++++++++
 1 file changed, 50 insertions(+)
 create mode 100644 examples/pybullet/testrender_np.py

diff --git a/examples/pybullet/testrender_np.py b/examples/pybullet/testrender_np.py
new file mode 100644
index 000000000..56439dde6
--- /dev/null
+++ b/examples/pybullet/testrender_np.py
@@ -0,0 +1,50 @@
+import numpy as np
+import matplotlib.pyplot as plt
+import pybullet
+import time
+
+pybullet.connect(pybullet.DIRECT)
+pybullet.loadURDF("r2d2.urdf")
+
+camTargetPos = [0,0,0]
+cameraUp = [0,0,1]
+cameraPos = [1,1,1]
+yaw = 40
+pitch = 10.0
+
+roll=0
+upAxisIndex = 2
+camDistance = 4
+pixelWidth = 1920
+pixelHeight = 1080
+nearPlane = 0.01
+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)
+
+	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)
+
+	#show
+	plt.imshow(rgb,interpolation='none')
+	#plt.show()
+	plt.pause(0.01)
+
+main_stop = time.time()
+print "Total time %f" % (main_stop - main_start)
+
+pybullet.resetSimulation()