mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 14:10:11 +00:00
48 lines
1.4 KiB
Python
48 lines
1.4 KiB
Python
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
|
|
lightDirection = [0,1,0]
|
|
lightColor = [1,1,1]#optional argument
|
|
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) :
|
|
viewMatrix = pybullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex)
|
|
aspect = pixelWidth / pixelHeight;
|
|
projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane);
|
|
#getCameraImage can also use renderer=pybullet.ER_BULLET_HARDWARE_OPENGL
|
|
img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, lightDirection,lightColor,renderer=pybullet.ER_TINY_RENDERER)
|
|
w=img_arr[0]
|
|
h=img_arr[1]
|
|
rgb=img_arr[2]
|
|
dep=img_arr[3]
|
|
#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.pause(0.01)
|
|
|
|
pybullet.resetSimulation()
|