add one more pybullet renderImage API and testrender.py example

tweak Bullet Inverse Dynamics, work-around compiler issue

examples/pybullet/pybullet.c

@@ -1041,6 +1041,8 @@ static int pybullet_internalSetVector(PyObject* objMat, float vector[3])
 //  renderImage(w, h, cameraPos, targetPos, cameraUp, nearVal, farVal, fov) -
 //    set resolution and initialize camera based on camera position, target
 //    position, camera up, fulstrum near/far values and camera field of view.
+//  renderImage(w, h, targetPos, distance, yaw, pitch, upAxisIndex, nearVal, farVal, fov)
+
 //
 // Note if the (w,h) is too small, the objects may not appear based on
 // where the camera has been set
@@ -1151,6 +1153,35 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args)
       aspect = width/height;
       b3RequestCameraImageSetFOVProjectionMatrix(command, fov, aspect, nearVal, farVal);
     }
+  }
+  else if (size==10)
+  {
+      int upAxisIndex=1;
+      float camDistance,yaw,pitch;
+      
+      //sometimes more arguments are better :-)
+       if (PyArg_ParseTuple(args, "iiOfffifff", &width, &height, &objTargetPos, &camDistance, &yaw, &pitch, &upAxisIndex, &nearVal, &farVal, &fov))
+       {
+       		
+            if (pybullet_internalSetVector(objTargetPos, targetPos))
+            {
+            		printf("width = %d, height = %d, targetPos = %f,%f,%f, distance = %f, yaw = %f, pitch = %f,	upAxisIndex = %d, near=%f, far=%f, fov=%f\n",width,height,targetPos[0],targetPos[1],targetPos[2],camDistance,yaw,pitch,upAxisIndex,nearVal,farVal,fov);
+            	
+                b3RequestCameraImageSetViewMatrix2(command,targetPos,camDistance,yaw,pitch,upAxisIndex);
+                aspect = width/height;
+                b3RequestCameraImageSetFOVProjectionMatrix(command, fov, aspect, nearVal, farVal);
+            } else
+            {
+                PyErr_SetString(SpamError, "Error parsing camera target pos");
+            }
+       } else
+       {
+            PyErr_SetString(SpamError, "Error parsing arguments");
+       }
+      
+      
+      
+      
   }
   else
   {

examples/pybullet/testrender.py

@@ -0,0 +1,40 @@
+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 = [3,3,3]
+yaw = 40.0
+pitch = 0.0
+upAxisIndex = 1
+camDistance = 3
+pixelWidth = 640
+pixelHeight = 480
+nearPlane = 0.01
+farPlane = 1000
+
+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)
+img_arr = pybullet.renderImage(pixelWidth, pixelHeight, camTargetPos, camDistance, yaw, pitch, upAxisIndex, nearPlane, farPlane, fov)
+
+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
+
+
+# reshape creates np array
+np_img_arr = np.reshape(rgb, (pixelHeight, pixelWidth, 4))
+np_img_arr = np_img_arr*(1./255.)
+
+#show
+plt.imshow(np_img_arr,interpolation='none')
+plt.show()
+p.resetSimulation()