83 lines
2.3 KiB
Python
83 lines
2.3 KiB
Python
#testrender.py is a bit slower than testrender_np.py: pixels are copied from C to Python one by one
|
|
|
|
import matplotlib.pyplot as plt
|
|
import pybullet
|
|
import time
|
|
import numpy as np #to reshape for matplotlib
|
|
|
|
plt.ion()
|
|
|
|
img = [[1, 2, 3] * 50] * 100 #np.random.rand(200, 320)
|
|
#img = [tandard_normal((50,100))
|
|
image = plt.imshow(img, interpolation='none', animated=True, label="blah")
|
|
ax = plt.gca()
|
|
|
|
pybullet.connect(pybullet.DIRECT)
|
|
|
|
#pybullet.loadPlugin("eglRendererPlugin")
|
|
pybullet.loadURDF("plane.urdf", [0, 0, -1])
|
|
pybullet.loadURDF("r2d2.urdf")
|
|
|
|
pybullet.setGravity(0, 0, -10)
|
|
camTargetPos = [0, 0, 0]
|
|
cameraUp = [0, 0, 1]
|
|
cameraPos = [1, 1, 1]
|
|
|
|
pitch = -10.0
|
|
|
|
roll = 0
|
|
upAxisIndex = 2
|
|
camDistance = 4
|
|
pixelWidth = 320
|
|
pixelHeight = 200
|
|
nearPlane = 0.01
|
|
farPlane = 100
|
|
|
|
fov = 60
|
|
|
|
main_start = time.time()
|
|
while (1):
|
|
for yaw in range(0, 360, 10):
|
|
pybullet.stepSimulation()
|
|
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,
|
|
shadow=1,
|
|
lightDirection=[1, 1, 1],
|
|
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(rgb)
|
|
print('width = %d height = %d' % (w, h))
|
|
|
|
#note that sending the data using imshow to matplotlib is really slow, so we use set_data
|
|
|
|
#plt.imshow(rgb,interpolation='none')
|
|
|
|
#reshape is needed
|
|
np_img_arr = np.reshape(rgb, (h, w, 4))
|
|
np_img_arr = np_img_arr * (1. / 255.)
|
|
|
|
image.set_data(np_img_arr)
|
|
ax.plot([0])
|
|
#plt.draw()
|
|
#plt.show()
|
|
plt.pause(0.01)
|
|
|
|
main_stop = time.time()
|
|
|
|
print("Total time %f" % (main_stop - main_start))
|
|
|
|
pybullet.resetSimulation()
|