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- 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()
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