move pybullet examples to Bullet/examples/pybullet/examples

examples/pybullet/examples/testrender.py

@@ -0,0 +1,47 @@
+import numpy as np
+import matplotlib.pyplot as plt
+import pybullet
+
+pybullet.connect(pybullet.GUI)
+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 = 320
+pixelHeight = 240
+nearPlane = 0.01
+farPlane = 1000
+lightDirection = [0,1,0]
+lightColor = [1,1,1]#optional argument
+fov = 60
+
+#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) :
+    viewMatrix = pybullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex)
+    aspect = pixelWidth / pixelHeight;
+    projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane);
+    #getCameraImage can also use renderer=pybullet.ER_BULLET_HARDWARE_OPENGL
+    img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, lightDirection,lightColor,renderer=pybullet.ER_TINY_RENDERER)
+    w=img_arr[0]
+    h=img_arr[1]
+    rgb=img_arr[2]
+    dep=img_arr[3]
+    #print 'width = %d height = %d' % (w,h)
+    # reshape creates np array
+    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')
+    
+    plt.pause(0.01)
+
+pybullet.resetSimulation()