141 lines
4.3 KiB
Python
141 lines
4.3 KiB
Python
#make sure to compile pybullet with PYBULLET_USE_NUMPY enabled
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#otherwise use testrender.py (slower but compatible without numpy)
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#you can also use GUI mode, for faster OpenGL rendering (instead of TinyRender CPU)
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import os
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import sys
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import time
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import itertools
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import subprocess
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import numpy as np
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import pybullet
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from multiprocessing import Process
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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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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 = 200
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nearPlane = 0.01
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farPlane = 100
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fov = 60
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import matplotlib.pyplot as plt
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class BulletSim():
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def __init__(self, connection_mode, *argv):
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self.connection_mode = connection_mode
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self.argv = argv
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def __enter__(self):
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print("connecting")
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optionstring='--width={} --height={}'.format(pixelWidth,pixelHeight)
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optionstring += ' --window_backend=2 --render_device=0'
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#optionstring += ' --window_backend=X11 --render_device=0'
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print(self.connection_mode, optionstring,*self.argv)
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cid = pybullet.connect(self.connection_mode, options=optionstring,*self.argv)
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if cid < 0:
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raise ValueError
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print("connected")
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pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_GUI,0)
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pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_SEGMENTATION_MARK_PREVIEW,0)
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pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_DEPTH_BUFFER_PREVIEW,0)
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pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_RGB_BUFFER_PREVIEW,0)
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pybullet.resetSimulation()
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pybullet.loadURDF("plane.urdf",[0,0,-1])
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pybullet.loadURDF("r2d2.urdf")
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pybullet.loadURDF("duck_vhacd.urdf")
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pybullet.setGravity(0,0,-10)
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def __exit__(self,*_,**__):
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pybullet.disconnect()
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def test(num_runs=100, shadow=1, plot=False):
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if plot:
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plt.ion()
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img = np.random.rand(200, 320)
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#img = [tandard_normal((50,100))
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image = plt.imshow(img,interpolation='none',animated=True,label="blah")
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ax = plt.gca()
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times = np.zeros(num_runs)
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yaw_gen = itertools.cycle(range(0,360,10))
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for i, yaw in zip(range(num_runs),yaw_gen):
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pybullet.stepSimulation()
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start = time.time()
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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,
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projectionMatrix, shadow=shadow,lightDirection=[1,1,1],
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renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
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#renderer=pybullet.ER_TINY_RENDERER)
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stop = time.time()
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duration = (stop - start)
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if (duration):
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fps = 1./duration
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#print("fps=",fps)
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else:
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fps=0
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#print("fps=",fps)
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#print("duraction=",duration)
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#print("fps=",fps)
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times[i] = fps
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if plot:
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rgb = img_arr[2]
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image.set_data(rgb)#np_img_arr)
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ax.plot([0])
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#plt.draw()
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#plt.show()
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plt.pause(0.01)
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print("mean: {0} for {1} runs".format(np.mean(times), num_runs))
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print("")
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if __name__ == "__main__":
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'''
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with BulletSim(pybullet.DIRECT):
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print("Testing DIRECT w/ shadow")
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test()
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print("Testing DIRECT w/o shadow")
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test(shadow=0)
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with BulletSim(pybullet.GUI):
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print("Testing GUI") # could have OpenGL?
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test()
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print("Testing GUI w/o shadow") # could have OpenGL?
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test(shadow=0)
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server_bin = "../../../build_cmake/examples/ExampleBrowser/App_ExampleBrowser"
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server_f = lambda : subprocess.run([server_bin],shell=True)
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server = Process(target=server_f)
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#server.start()
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'''
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with BulletSim(pybullet.GUI):
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logId = pybullet.startStateLogging(pybullet.STATE_LOGGING_PROFILE_TIMINGS, "renderTimings")
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print("Testing GUI")
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test()
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print("Testing GUI w/o shadow")
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test(shadow=0)
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pybullet.stopStateLogging(logId)
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#server.join()
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