import numpy as np
import matplotlib.pyplot as plt
import pybullet

pybullet.connect(pybullet.GUI)
pybullet.loadURDF("r2d2.urdf")

camTargetPos = [0,0,0]
cameraUp = [0,0,1]
cameraPos = [1,1,1]
yaw = 40
pitch = 10.0

roll=0
upAxisIndex = 2
camDistance = 4
pixelWidth = 320
pixelHeight = 240
nearPlane = 0.01
farPlane = 1000

fov = 60

#img_arr = pybullet.renderImage(pixelWidth, pixelHeight)
#renderImage(w, h, view[16], projection[16])
#img_arr = pybullet.renderImage(pixelWidth, pixelHeight, cameraPos, camTargetPos, cameraUp, nearPlane, farPlane)
for pitch in range (0,360,10) :
	img_arr = pybullet.renderImage(pixelWidth, pixelHeight, camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex, nearPlane, farPlane, fov)

	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 'width = %d height = %d' % (w,h)

	# reshape creates np array
	np_img_arr = np.reshape(rgb, (h, w, 4))
	np_img_arr = np_img_arr*(1./255.)

	#show
	plt.imshow(np_img_arr,interpolation='none')
	#plt.show()
	plt.pause(0.01)

pybullet.resetSimulation()