move pybullet examples to Bullet/examples/pybullet/examples

examples/pybullet/examples/testrender_np.py

@@ -0,0 +1,54 @@
+
+#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
+import time
+
+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 = 1024
+pixelHeight = 768
+nearPlane = 0.01
+farPlane = 1000
+
+fov = 60
+
+main_start = time.time()
+for pitch 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)
+    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))
+
+    #note that sending the data to matplotlib is really slow
+
+    plt.imshow(rgb,interpolation='none')
+    plt.pause(0.001)
+
+main_stop = time.time()
+
+print ("Total time %f" % (main_stop - main_start))
+
+pybullet.resetSimulation()