71 lines
1.8 KiB
Python
71 lines
1.8 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
|
|
|
|
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.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')
|
|
image.set_data(rgb)
|
|
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()
|