8c69fa13ca
always pass in width, hight and viewMatrix, projectionMatrix, optionally lightDir added helper methods computeViewMatrix, computeViewMatrixFromYawPitchRoll, computeProjectionMatrix, computeProjectionMatrixFOV see Bullet/examples/pybullet/testrender.py + testrender_np.py for example use add missing base_link.stl for husky.urdf
46 lines
1.3 KiB
Python
46 lines
1.3 KiB
Python
import numpy as np
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import matplotlib.pyplot as plt
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import pybullet
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pybullet.connect(pybullet.GUI)
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pybullet.loadURDF("r2d2.urdf")
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camTargetPos = [0.,0.,0.]
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cameraUp = [0,0,1]
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cameraPos = [1,1,1]
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yaw = 40
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pitch = 10.0
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roll=0
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upAxisIndex = 2
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camDistance = 4
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pixelWidth = 320
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pixelHeight = 240
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nearPlane = 0.01
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farPlane = 1000
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lightDirection = [0,1,0]
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fov = 60
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#img_arr = pybullet.renderImage(pixelWidth, pixelHeight)
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#renderImage(w, h, view[16], projection[16])
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#img_arr = pybullet.renderImage(pixelWidth, pixelHeight, cameraPos, camTargetPos, cameraUp, nearPlane, farPlane)
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for pitch in range (0,360,10) :
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viewMatrix = pybullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex)
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aspect = pixelWidth / pixelHeight;
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projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane);
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img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, lightDirection)
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w=img_arr[0]
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h=img_arr[1]
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rgb=img_arr[2]
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dep=img_arr[3]
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#print 'width = %d height = %d' % (w,h)
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# reshape creates np array
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np_img_arr = np.reshape(rgb, (h, w, 4))
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np_img_arr = np_img_arr*(1./255.)
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#show
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plt.imshow(np_img_arr,interpolation='none')
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plt.pause(0.01)
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pybullet.resetSimulation()
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