add one more pybullet renderImage API and testrender.py example

tweak Bullet Inverse Dynamics, work-around compiler issue

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()