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https://github.com/bulletphysics/bullet3
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8c69fa13ca
always pass in width, hight and viewMatrix, projectionMatrix, optionally lightDir added helper methods computeViewMatrix, computeViewMatrixFromYawPitchRoll, computeProjectionMatrix, computeProjectionMatrixFOV see Bullet/examples/pybullet/testrender.py + testrender_np.py for example use add missing base_link.stl for husky.urdf
56 lines
1.4 KiB
Python
56 lines
1.4 KiB
Python
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#make sure to compile pybullet with PYBULLET_USE_NUMPY enabled, otherwise use testrender.py (slower but compatible without numpy)
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import numpy as np
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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("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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yaw = 40
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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 = 1920
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pixelHeight = 1080
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nearPlane = 0.01
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farPlane = 1000
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fov = 60
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main_start = time.time()
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for pitch 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, [0,1,0])
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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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#show
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plt.imshow(rgb,interpolation='none')
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#plt.show()
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plt.pause(0.01)
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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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