41 lines
1.0 KiB
Python
41 lines
1.0 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 = [3,3,3]
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yaw = 40.0
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pitch = 0.0
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upAxisIndex = 1
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camDistance = 3
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pixelWidth = 640
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pixelHeight = 480
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nearPlane = 0.01
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farPlane = 1000
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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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img_arr = pybullet.renderImage(pixelWidth, pixelHeight, camTargetPos, camDistance, yaw, pitch, upAxisIndex, nearPlane, farPlane, fov)
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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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# reshape creates np array
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np_img_arr = np.reshape(rgb, (pixelHeight, pixelWidth, 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.show()
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p.resetSimulation()
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