57 lines
1.5 KiB
Python
57 lines
1.5 KiB
Python
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#testrender.py is a bit slower than testrender_np.py: pixels are copied from C to Python one by one
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import matplotlib.pyplot as plt
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import pybullet
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import time
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pybullet.connect(pybullet.DIRECT)
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pybullet.loadURDF("plane.urdf",[0,0,-1])
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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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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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main_start = time.time()
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for yaw in range (0,360,10) :
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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,projectionMatrix, shadow=1,lightDirection=[1,1,1],renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
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stop = time.time()
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print ("renderImage %f" % (stop - start))
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w=img_arr[0] #width of the image, in pixels
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h=img_arr[1] #height of the image, in pixels
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rgb=img_arr[2] #color data RGB
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dep=img_arr[3] #depth data
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print ('width = %d height = %d' % (w,h))
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#note that sending the data to matplotlib is really slow
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plt.imshow(rgb,interpolation='none')
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plt.show(block=False)
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plt.pause(0.001)
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main_stop = time.time()
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print ("Total time %f" % (main_stop - main_start))
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pybullet.resetSimulation()
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