diff options
Diffstat (limited to 'examples/pybullet/examples/getCameraImageTest.py')
| -rw-r--r-- | examples/pybullet/examples/getCameraImageTest.py | 98 |
1 files changed, 62 insertions, 36 deletions
diff --git a/examples/pybullet/examples/getCameraImageTest.py b/examples/pybullet/examples/getCameraImageTest.py index 290580cb4..c68888577 100644 --- a/examples/pybullet/examples/getCameraImageTest.py +++ b/examples/pybullet/examples/getCameraImageTest.py @@ -3,16 +3,14 @@ import numpy as np import pybullet as p import time - -direct = p.connect(p.GUI)#, options="--window_backend=2 --render_device=0") +direct = p.connect(p.GUI) #, options="--window_backend=2 --render_device=0") #egl = p.loadPlugin("eglRendererPlugin") - p.loadURDF('plane.urdf') -p.loadURDF("r2d2.urdf",[0,0,1]) +p.loadURDF("r2d2.urdf", [0, 0, 1]) p.loadURDF('cube_small.urdf', basePosition=[0.0, 0.0, 0.025]) cube_trans = p.loadURDF('cube_small.urdf', basePosition=[0.0, 0.1, 0.025]) -p.changeVisualShape(cube_trans,-1,rgbaColor=[1,1,1,0.1]) +p.changeVisualShape(cube_trans, -1, rgbaColor=[1, 1, 1, 0.1]) width = 128 height = 128 @@ -25,42 +23,71 @@ view_matrix = p.computeViewMatrix([0, 0, 0.5], [0, 0, 0], [1, 0, 0]) projection_matrix = p.computeProjectionMatrixFOV(fov, aspect, near, far) # Get depth values using the OpenGL renderer -images = p.getCameraImage(width, height, view_matrix, projection_matrix, shadow=True,renderer=p.ER_BULLET_HARDWARE_OPENGL) -rgb_opengl= np.reshape(images[2], (height, width, 4))*1./255. +images = p.getCameraImage(width, + height, + view_matrix, + projection_matrix, + shadow=True, + renderer=p.ER_BULLET_HARDWARE_OPENGL) +rgb_opengl = np.reshape(images[2], (height, width, 4)) * 1. / 255. depth_buffer_opengl = np.reshape(images[3], [width, height]) depth_opengl = far * near / (far - (far - near) * depth_buffer_opengl) -seg_opengl = np.reshape(images[4], [width, height])*1./255. +seg_opengl = np.reshape(images[4], [width, height]) * 1. / 255. time.sleep(1) # Get depth values using Tiny renderer -images = p.getCameraImage(width, height, view_matrix, projection_matrix, shadow=True, renderer=p.ER_TINY_RENDERER) +images = p.getCameraImage(width, + height, + view_matrix, + projection_matrix, + shadow=True, + renderer=p.ER_TINY_RENDERER) depth_buffer_tiny = np.reshape(images[3], [width, height]) depth_tiny = far * near / (far - (far - near) * depth_buffer_tiny) -rgb_tiny= np.reshape(images[2], (height, width, 4))*1./255. -seg_tiny = np.reshape(images[4],[width,height])*1./255. - +rgb_tiny = np.reshape(images[2], (height, width, 4)) * 1. / 255. +seg_tiny = np.reshape(images[4], [width, height]) * 1. / 255. - -bearStartPos1 = [-3.3,0,0] -bearStartOrientation1 = p.getQuaternionFromEuler([0,0,0]) +bearStartPos1 = [-3.3, 0, 0] +bearStartOrientation1 = p.getQuaternionFromEuler([0, 0, 0]) bearId1 = p.loadURDF("plane.urdf", bearStartPos1, bearStartOrientation1) -bearStartPos2 = [0,0,0] -bearStartOrientation2 = p.getQuaternionFromEuler([0,0,0]) -bearId2 = p.loadURDF("teddy_large.urdf",bearStartPos2, bearStartOrientation2) +bearStartPos2 = [0, 0, 0] +bearStartOrientation2 = p.getQuaternionFromEuler([0, 0, 0]) +bearId2 = p.loadURDF("teddy_large.urdf", bearStartPos2, bearStartOrientation2) textureId = p.loadTexture("checker_grid.jpg") -for b in range (p.getNumBodies()): - p.changeVisualShape(b,linkIndex=-1,textureUniqueId=textureId) - for j in range(p.getNumJoints(b)): - p.changeVisualShape(b,linkIndex=j,textureUniqueId=textureId) - -viewMat = [0.642787516117096, -0.4393851161003113, 0.6275069713592529, 0.0, 0.766044557094574, 0.36868777871131897, -0.5265407562255859, 0.0, -0.0, 0.8191521167755127, 0.5735764503479004, 0.0, 2.384185791015625e-07, 2.384185791015625e-07, -5.000000476837158, 1.0] -projMat = [0.7499999403953552, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0, 0.0, 0.0, -0.02000020071864128, 0.0] -images = p.getCameraImage(width, height, viewMatrix = viewMat, projectionMatrix = projMat, renderer=p.ER_BULLET_HARDWARE_OPENGL, flags=p.ER_USE_PROJECTIVE_TEXTURE, projectiveTextureView=viewMat, projectiveTextureProj=projMat) -proj_opengl= np.reshape(images[2], (height, width, 4))*1./255. +for b in range(p.getNumBodies()): + p.changeVisualShape(b, linkIndex=-1, textureUniqueId=textureId) + for j in range(p.getNumJoints(b)): + p.changeVisualShape(b, linkIndex=j, textureUniqueId=textureId) + +viewMat = [ + 0.642787516117096, -0.4393851161003113, 0.6275069713592529, 0.0, 0.766044557094574, + 0.36868777871131897, -0.5265407562255859, 0.0, -0.0, 0.8191521167755127, 0.5735764503479004, + 0.0, 2.384185791015625e-07, 2.384185791015625e-07, -5.000000476837158, 1.0 +] +projMat = [ + 0.7499999403953552, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0, + 0.0, 0.0, -0.02000020071864128, 0.0 +] +images = p.getCameraImage(width, + height, + viewMatrix=viewMat, + projectionMatrix=projMat, + renderer=p.ER_BULLET_HARDWARE_OPENGL, + flags=p.ER_USE_PROJECTIVE_TEXTURE, + projectiveTextureView=viewMat, + projectiveTextureProj=projMat) +proj_opengl = np.reshape(images[2], (height, width, 4)) * 1. / 255. time.sleep(1) -images = p.getCameraImage(width, height, viewMatrix = viewMat, projectionMatrix = projMat, renderer=p.ER_TINY_RENDERER, flags=p.ER_USE_PROJECTIVE_TEXTURE, projectiveTextureView=viewMat, projectiveTextureProj=projMat) -proj_tiny= np.reshape(images[2], (height, width, 4))*1./255. +images = p.getCameraImage(width, + height, + viewMatrix=viewMat, + projectionMatrix=projMat, + renderer=p.ER_TINY_RENDERER, + flags=p.ER_USE_PROJECTIVE_TEXTURE, + projectiveTextureView=viewMat, + projectiveTextureProj=projMat) +proj_tiny = np.reshape(images[2], (height, width, 4)) * 1. / 255. # Plot both images - should show depth values of 0.45 over the cube and 0.5 over the plane plt.subplot(4, 2, 1) @@ -71,30 +98,29 @@ plt.subplot(4, 2, 2) plt.imshow(depth_tiny, cmap='gray', vmin=0, vmax=1) plt.title('Depth TinyRenderer') -plt.subplot(4,2,3) +plt.subplot(4, 2, 3) plt.imshow(rgb_opengl) plt.title('RGB OpenGL3') -plt.subplot(4,2,4) +plt.subplot(4, 2, 4) plt.imshow(rgb_tiny) plt.title('RGB Tiny') -plt.subplot(4,2,5) +plt.subplot(4, 2, 5) plt.imshow(seg_opengl) plt.title('Seg OpenGL3') -plt.subplot(4,2,6) +plt.subplot(4, 2, 6) plt.imshow(seg_tiny) plt.title('Seg Tiny') -plt.subplot(4,2,7) +plt.subplot(4, 2, 7) plt.imshow(proj_opengl) plt.title('Proj OpenGL') -plt.subplot(4,2,8) +plt.subplot(4, 2, 8) plt.imshow(proj_tiny) plt.title('Proj Tiny') plt.subplots_adjust(hspace=0.7) - plt.show() |