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

pybullet.connect(pybullet.DIRECT)
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 = 1920
pixelHeight = 1080
nearPlane = 0.01
farPlane = 1000

fov = 60

main_start = time.time()
#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) :
	start = time.time()
	img_arr = pybullet.renderImage(pixelWidth, pixelHeight, camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex, nearPlane, farPlane, fov)
	stop = time.time()
	print "renderImage %f" % (stop - start)

	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)

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

main_stop = time.time()
print "Total time %f" % (main_stop - main_start)

pybullet.resetSimulation()