Python pybullet.ER_BULLET_HARDWARE_OPENGL Examples
The following are 20
code examples of pybullet.ER_BULLET_HARDWARE_OPENGL().
You can vote up the ones you like or vote down the ones you don't like,
and go to the original project or source file by following the links above each example.
You may also want to check out all available functions/classes of the module
pybullet
, or try the search function
.
.
Example #1
| Source File: minitaur_gym_env.py From soccer-matlab with BSD 2-Clause "Simplified" License | 6 votes |
|
def _render(self, mode="rgb_array", close=False):
if mode != "rgb_array":
return np.array([])
base_pos = self.minitaur.GetBasePosition()
view_matrix = self._pybullet_client.computeViewMatrixFromYawPitchRoll(
cameraTargetPosition=base_pos,
distance=self._cam_dist,
yaw=self._cam_yaw,
pitch=self._cam_pitch,
roll=0,
upAxisIndex=2)
proj_matrix = self._pybullet_client.computeProjectionMatrixFOV(
fov=60, aspect=float(RENDER_WIDTH)/RENDER_HEIGHT,
nearVal=0.1, farVal=100.0)
(_, _, px, _, _) = self._pybullet_client.getCameraImage(
width=RENDER_WIDTH, height=RENDER_HEIGHT, viewMatrix=view_matrix,
projectionMatrix=proj_matrix, renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
rgb_array = np.array(px)
rgb_array = rgb_array[:, :, :3]
return rgb_array
Example #2
| Source File: racecarGymEnv.py From soccer-matlab with BSD 2-Clause "Simplified" License | 6 votes |
|
def _render(self, mode='human', close=False):
if mode != "rgb_array":
return np.array([])
base_pos,orn = self._p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
view_matrix = self._p.computeViewMatrixFromYawPitchRoll(
cameraTargetPosition=base_pos,
distance=self._cam_dist,
yaw=self._cam_yaw,
pitch=self._cam_pitch,
roll=0,
upAxisIndex=2)
proj_matrix = self._p.computeProjectionMatrixFOV(
fov=60, aspect=float(RENDER_WIDTH)/RENDER_HEIGHT,
nearVal=0.1, farVal=100.0)
(_, _, px, _, _) = self._p.getCameraImage(
width=RENDER_WIDTH, height=RENDER_HEIGHT, viewMatrix=view_matrix,
projectionMatrix=proj_matrix, renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
rgb_array = np.array(px)
rgb_array = rgb_array[:, :, :3]
return rgb_array
Example #3
| Source File: minitaur_duck_gym_env.py From soccer-matlab with BSD 2-Clause "Simplified" License | 6 votes |
|
def _render(self, mode="rgb_array", close=False):
if mode != "rgb_array":
return np.array([])
base_pos = self.minitaur.GetBasePosition()
view_matrix = self._pybullet_client.computeViewMatrixFromYawPitchRoll(
cameraTargetPosition=base_pos,
distance=self._cam_dist,
yaw=self._cam_yaw,
pitch=self._cam_pitch,
roll=0,
upAxisIndex=2)
proj_matrix = self._pybullet_client.computeProjectionMatrixFOV(
fov=60, aspect=float(RENDER_WIDTH)/RENDER_HEIGHT,
nearVal=0.1, farVal=100.0)
(_, _, px, _, _) = self._pybullet_client.getCameraImage(
width=RENDER_WIDTH, height=RENDER_HEIGHT, viewMatrix=view_matrix,
projectionMatrix=proj_matrix, renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
rgb_array = np.array(px)
rgb_array = rgb_array[:, :, :3]
return rgb_array
Example #4
| Source File: racecarZEDGymEnv.py From soccer-matlab with BSD 2-Clause "Simplified" License | 6 votes |
|
def _render(self, mode='human', close=False):
if mode != "rgb_array":
return np.array([])
base_pos,orn = self._p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
view_matrix = self._p.computeViewMatrixFromYawPitchRoll(
cameraTargetPosition=base_pos,
distance=self._cam_dist,
yaw=self._cam_yaw,
pitch=self._cam_pitch,
roll=0,
upAxisIndex=2)
proj_matrix = self._p.computeProjectionMatrixFOV(
fov=60, aspect=float(RENDER_WIDTH)/RENDER_HEIGHT,
nearVal=0.1, farVal=100.0)
(_, _, px, _, _) = self._p.getCameraImage(
width=RENDER_WIDTH, height=RENDER_HEIGHT, viewMatrix=view_matrix,
projectionMatrix=proj_matrix, renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
rgb_array = np.array(px)
rgb_array = rgb_array[:, :, :3]
return rgb_array
Example #5
| Source File: env_bases.py From midlevel-reps with MIT License | 6 votes |
|
def render_map(self):
base_pos=[0, 0, -3]
if (hasattr(self,'robot')):
if (hasattr(self.robot,'body_xyz')):
base_pos[0] = self.robot.body_xyz[0]
base_pos[1] = self.robot.body_xyz[1]
view_matrix = p.computeViewMatrixFromYawPitchRoll(
cameraTargetPosition=base_pos,
distance=35,
yaw=0,
pitch=-89,
roll=0,
upAxisIndex=2)
proj_matrix = p.computeProjectionMatrixFOV(
fov=60, aspect=float(self._render_width)/self._render_height,
nearVal=0.1, farVal=100.0)
(_, _, px, _, _) = p.getCameraImage(
width=self._render_width, height=self._render_height, viewMatrix=view_matrix,
projectionMatrix=proj_matrix,
renderer=p.ER_BULLET_HARDWARE_OPENGL
)
rgb_array = np.array(px)
rgb_array = rgb_array[:, :, :3]
return rgb_array
Example #6
| Source File: renderer.py From mvp_grasp with BSD 3-Clause "New" or "Revised" License | 6 votes |
|
def render(self):
if np.all(self._rendered_pos == self.camera_pos) and np.all(self._rendered_rot == self.camera_rot):
return self._rendered
target = self.camera_pos + np.dot(self.camera_rot, [0, 0, 1.0, 1.0])[0:3]
up = np.dot(self.camera_rot, [0, -1.0, 0, 1.0])[0:3]
vm = pb.computeViewMatrix(self.camera_pos, target, up)
i_arr = pb.getCameraImage(self.im_width, self.im_height, vm, self.pm,
shadow=0,
renderer=pb.ER_TINY_RENDERER)
# renderer=pb.ER_BULLET_HARDWARE_OPENGL)
# Record the position of the camera, and don't re-render if it hasn't moved.
self._rendered = i_arr
self._rendered_pos = self.camera_pos.copy()
self._rendered_rot = self.camera_rot.copy()
return i_arr
Example #7
| Source File: env_bases.py From midlevel-reps with MIT License | 6 votes |
|
def _render(self, mode, close):
base_pos=[0,0,0]
if (hasattr(self,'robot')):
if (hasattr(self.robot,'body_xyz')):
base_pos = self.robot.body_xyz
view_matrix = p.computeViewMatrixFromYawPitchRoll(
cameraTargetPosition=base_pos,
distance=self._cam_dist,
yaw=self._cam_yaw,
pitch=self._cam_pitch,
roll=0,
upAxisIndex=2)
proj_matrix = p.computeProjectionMatrixFOV(
fov=60, aspect=float(self._render_width)/self._render_height,
nearVal=0.1, farVal=100.0)
(_, _, px, _, _) = p.getCameraImage(
width=self._render_width, height=self._render_height, viewMatrix=view_matrix,
projectionMatrix=proj_matrix,
renderer=p.ER_BULLET_HARDWARE_OPENGL
)
rgb_array = np.array(px)
if close: return None
rgb_array = rgb_array[:, :, :3]
return rgb_array
Example #8
| Source File: env_bases.py From GtS with MIT License | 6 votes |
|
def render_map(self):
base_pos=[0, 0, -3]
if (hasattr(self,'robot')):
if (hasattr(self.robot,'body_xyz')):
base_pos[0] = self.robot.body_xyz[0]
base_pos[1] = self.robot.body_xyz[1]
view_matrix = p.computeViewMatrixFromYawPitchRoll(
cameraTargetPosition=base_pos,
distance=35,
yaw=0,
pitch=-89,
roll=0,
upAxisIndex=2)
proj_matrix = p.computeProjectionMatrixFOV(
fov=60, aspect=float(self._render_width)/self._render_height,
nearVal=0.1, farVal=100.0)
(_, _, px, _, _) = p.getCameraImage(
width=self._render_width, height=self._render_height, viewMatrix=view_matrix,
projectionMatrix=proj_matrix,
renderer=p.ER_BULLET_HARDWARE_OPENGL
)
rgb_array = np.array(px).reshape((self._render_width, self._render_height, -1))
rgb_array = rgb_array[:, :, :3]
return rgb_array
Example #9
| Source File: env_bases.py From GtS with MIT License | 6 votes |
|
def _render(self, mode, close):
base_pos=[0,0,0]
if (hasattr(self,'robot')):
if (hasattr(self.robot,'body_xyz')):
base_pos = self.robot.body_xyz
view_matrix = p.computeViewMatrixFromYawPitchRoll(
cameraTargetPosition=base_pos,
distance=self._cam_dist,
yaw=self._cam_yaw,
pitch=self._cam_pitch,
roll=0,
upAxisIndex=2)
proj_matrix = p.computeProjectionMatrixFOV(
fov=60, aspect=float(self._render_width)/self._render_height,
nearVal=0.1, farVal=100.0)
(_, _, px, _, _) = p.getCameraImage(
width=self._render_width, height=self._render_height, viewMatrix=view_matrix,
projectionMatrix=proj_matrix,
renderer=p.ER_BULLET_HARDWARE_OPENGL
)
rgb_array = np.array(px).reshape((self._render_width, self._render_height, -1))
if close: return None
rgb_array = rgb_array[:, :, :3]
return rgb_array
Example #10
| Source File: helloworld_panda.py From pybullet-robot-envs with GNU Lesser General Public License v2.1 | 5 votes |
|
def render(robot):
pos, rot, _, _, _, _ = p.getLinkState(robot.robot_id, linkIndex=robot.end_eff_idx, computeForwardKinematics=True)
rot_matrix = p.getMatrixFromQuaternion(rot)
rot_matrix = np.array(rot_matrix).reshape(3, 3)
# camera params
height = 640
width = 480
fx, fy = 596.6278076171875, 596.6278076171875
cx, cy = 311.98663330078125, 236.76170349121094
near, far = 0.1, 10
camera_vector = rot_matrix.dot((0, 0, 1))
up_vector = rot_matrix.dot((0, -1, 0))
camera_eye_pos = np.array(pos)
camera_target_position = camera_eye_pos + 0.2 * camera_vector
view_matrix = p.computeViewMatrix(camera_eye_pos, camera_target_position, up_vector)
proj_matrix = (2.0 * fx / width, 0.0, 0.0, 0.0,
0.0, 2.0 * fy / height, 0.0, 0.0,
1.0 - 2.0 * cx / width, 2.0 * cy / height - 1.0, (far + near) / (near - far), -1.0,
0.0, 0.0, 2.0 * far * near / (near - far), 0.0)
p.getCameraImage(width=width, height=height, viewMatrix=view_matrix, projectionMatrix=proj_matrix,
renderer=p.ER_BULLET_HARDWARE_OPENGL) # renderer=self._p.ER_TINY_RENDERER)
Example #11
| Source File: env_bases.py From soccer-matlab with BSD 2-Clause "Simplified" License | 5 votes |
|
def _render(self, mode, close=False): if (mode=="human"): self.isRender = True if mode != "rgb_array": return np.array([]) base_pos=[0,0,0] if (hasattr(self,'robot')): if (hasattr(self.robot,'body_xyz')): base_pos = self.robot.body_xyz view_matrix = self._p.computeViewMatrixFromYawPitchRoll( cameraTargetPosition=base_pos, distance=self._cam_dist, yaw=self._cam_yaw, pitch=self._cam_pitch, roll=0, upAxisIndex=2) proj_matrix = self._p.computeProjectionMatrixFOV( fov=60, aspect=float(self._render_width)/self._render_height, nearVal=0.1, farVal=100.0) (_, _, px, _, _) = self._p.getCameraImage( width=self._render_width, height=self._render_height, viewMatrix=view_matrix, projectionMatrix=proj_matrix, renderer=pybullet.ER_BULLET_HARDWARE_OPENGL ) rgb_array = np.array(px) rgb_array = rgb_array[:, :, :3] return rgb_array
Example #12
| Source File: camera.py From qibullet with Apache License 2.0 | 5 votes |
|
def _getCameraImage(self):
"""
INTERNAL METHOD, Computes the OpenGL virtual camera image. The
resolution and the projection matrix have to be computed before calling
this method, or it will crash
Returns:
camera_image - The camera image of the OpenGL virtual camera
"""
_, _, _, _, pos_world, q_world = pybullet.getLinkState(
self.robot_model,
self.camera_link.getParentIndex(),
computeForwardKinematics=False,
physicsClientId=self.physics_client)
rotation = pybullet.getMatrixFromQuaternion(q_world)
forward_vector = [rotation[0], rotation[3], rotation[6]]
up_vector = [rotation[2], rotation[5], rotation[8]]
camera_target = [
pos_world[0] + forward_vector[0] * 10,
pos_world[1] + forward_vector[1] * 10,
pos_world[2] + forward_vector[2] * 10]
view_matrix = pybullet.computeViewMatrix(
pos_world,
camera_target,
up_vector,
physicsClientId=self.physics_client)
with self.resolution_lock:
camera_image = pybullet.getCameraImage(
self.resolution.width,
self.resolution.height,
view_matrix,
self.projection_matrix,
renderer=pybullet.ER_BULLET_HARDWARE_OPENGL,
flags=pybullet.ER_NO_SEGMENTATION_MASK,
physicsClientId=self.physics_client)
return camera_image
Example #13
| Source File: env.py From assistive-gym with MIT License | 5 votes |
|
def record_video_frame(self):
if self.record_video and self.gui:
frame = np.reshape(p.getCameraImage(width=self.width, height=self.height, renderer=p.ER_BULLET_HARDWARE_OPENGL, physicsClientId=self.id)[2], (self.height, self.width, 4))[:, :, :3]
# frame = cv2.cvtColor(frame, cv2.COLOR_RGB2BGR)
# self.video_writer.write(frame)
Example #14
| Source File: realcomp_env.py From REALCompetitionStartingKit with MIT License | 5 votes |
|
def renderPitchRoll(self, distance, roll, pitch, yaw, bullet_client = None):
if bullet_client is None:
bullet_client = self._p
self.targetPosition = targetPosition
view_matrix = bullet_client.computeViewMatrixFromYawPitchRoll(
cameraTargetPosition = self.pos,
distance=distance,
yaw=yaw,
pitch=pitch,
roll=roll,
upAxisIndex=2)
proj_matrix = bullet_client.computeProjectionMatrixFOV(
fov=self.fov, aspect=float(self.render_width)/self.render_height,
nearVal=0.1, farVal=100.0)
(_, _, px, _, _) = bullet_client.getCameraImage(
width=self.render_width, height=self.render_height,
viewMatrix=view_matrix,
projectionMatrix=proj_matrix,
renderer=pybullet.ER_BULLET_HARDWARE_OPENGL
)
rgb_array = np.array(px).reshape(self.render_height, self.render_width, 4)
rgb_array = rgb_array[:, :, :3]
return rgb_array
Example #15
| Source File: realcomp_env.py From REALCompetitionStartingKit with MIT License | 5 votes |
|
def renderTarget(self, targetPosition, bullet_client = None):
if bullet_client is None:
bullet_client = self._p
self.targetPosition = targetPosition
view_matrix = bullet_client.computeViewMatrix(
cameraEyePosition = self.eyePosition,
cameraTargetPosition = self.targetPosition,
cameraUpVector=self.upVector)
proj_matrix = bullet_client.computeProjectionMatrixFOV(
fov=self.fov, aspect=float(self.render_width)/self.render_height,
nearVal=0.1, farVal=100.0)
(_, _, px, _, _) = bullet_client.getCameraImage(
width=self.render_width, height=self.render_height,
viewMatrix=view_matrix,
projectionMatrix=proj_matrix,
renderer=pybullet.ER_BULLET_HARDWARE_OPENGL
)
rgb_array = np.array(px).reshape(self.render_height, self.render_width, 4)
rgb_array = rgb_array[:, :, :3]
return rgb_array
Example #16
| Source File: realcomp_env.py From REALCompetitionStartingKit with MIT License | 5 votes |
|
def render(self, bullet_client = None):
if bullet_client is None:
bullet_client = self._p
view_matrix = bullet_client.computeViewMatrixFromYawPitchRoll(
cameraTargetPosition = self.pos,
distance=self.dist,
yaw=self.yaw,
pitch=self.pitch,
roll=self.roll,
upAxisIndex=2)
proj_matrix = bullet_client.computeProjectionMatrixFOV(
fov=self.fov, aspect=float(self.render_width)/self.render_height,
nearVal=0.1, farVal=100.0)
(_, _, px, _, _) = bullet_client.getCameraImage(
width=self.render_width, height=self.render_height,
viewMatrix=view_matrix,
projectionMatrix=proj_matrix,
renderer=pybullet.ER_BULLET_HARDWARE_OPENGL
)
rgb_array = np.array(px).reshape(self.render_height, self.render_width, 4)
rgb_array = rgb_array[:, :, :3]
return rgb_array
Example #17
| Source File: env.py From real_robots with MIT License | 5 votes |
|
def renderPitchRoll(self, distance, roll, pitch, yaw, bullet_client=None):
if bullet_client is None:
bullet_client = self._p
# self.targetPosition = targetPosition
view_matrix = bullet_client.computeViewMatrixFromYawPitchRoll(
cameraTargetPosition=self.pos,
distance=distance,
yaw=yaw,
pitch=pitch,
roll=roll,
upAxisIndex=2)
proj_matrix = bullet_client.computeProjectionMatrixFOV(
fov=self.fov,
aspect=float(self.render_width)/self.render_height,
nearVal=0.1, farVal=100.0)
(_, _, px, _, _) = bullet_client.getCameraImage(
width=self.render_width, height=self.render_height,
viewMatrix=view_matrix,
projectionMatrix=proj_matrix,
renderer=pybullet.ER_BULLET_HARDWARE_OPENGL
)
rgb_array = np.array(px).reshape(self.render_height,
self.render_width, 4)
rgb_array = rgb_array[:, :, :3]
return rgb_array
Example #18
| Source File: env.py From real_robots with MIT License | 5 votes |
|
def renderTarget(self, targetPosition, bullet_client=None):
if bullet_client is None:
bullet_client = self._p
self.targetPosition = targetPosition
view_matrix = bullet_client.computeViewMatrix(
cameraEyePosition=self.eyePosition,
cameraTargetPosition=self.targetPosition,
cameraUpVector=self.upVector)
proj_matrix = bullet_client.computeProjectionMatrixFOV(
fov=self.fov,
aspect=float(self.render_width)/self.render_height,
nearVal=0.1, farVal=100.0)
(_, _, px, _, _) = bullet_client.getCameraImage(
width=self.render_width, height=self.render_height,
viewMatrix=view_matrix,
projectionMatrix=proj_matrix,
renderer=pybullet.ER_BULLET_HARDWARE_OPENGL
)
rgb_array = np.array(px).reshape(self.render_height,
self.render_width, 4)
rgb_array = rgb_array[:, :, :3]
return rgb_array
Example #19
| Source File: env.py From real_robots with MIT License | 5 votes |
|
def render(self, bullet_client=None):
if bullet_client is None:
bullet_client = self._p
view_matrix = bullet_client.computeViewMatrixFromYawPitchRoll(
cameraTargetPosition=self.pos,
distance=self.dist,
yaw=self.yaw,
pitch=self.pitch,
roll=self.roll,
upAxisIndex=2)
proj_matrix = bullet_client.computeProjectionMatrixFOV(
fov=self.fov,
aspect=float(self.render_width)/self.render_height,
nearVal=0.1, farVal=100.0)
(_, _, px, _, _) = bullet_client.getCameraImage(
width=self.render_width, height=self.render_height,
viewMatrix=view_matrix,
projectionMatrix=proj_matrix,
renderer=pybullet.ER_BULLET_HARDWARE_OPENGL
)
rgb_array = np.array(px).reshape(self.render_height,
self.render_width, 4)
rgb_array = rgb_array[:, :, :3]
return rgb_array
Example #20
| Source File: turtlebot_pybullet.py From SocialRobot with Apache License 2.0 | 4 votes |
|
def get_image(cam_pos, cam_orientation):
"""
Arguments
cam_pos: camera position
cam_orientation: camera orientation in quaternion
"""
width = 160
height = 120
fov = 90
aspect = width / height
near = 0.001
far = 5
if use_maximal_coordinates:
# cam_orientation has problem when enable bt_rigid_body,
# looking at 0.0, 0.0, 0.0 instead
# this does not affect performance
cam_pos_offset = cam_pos + np.array([0.0, 0.0, 0.3])
target_pos = np.array([0.0, 0.0, 0.0])
else:
# camera pos, look at, camera up direction
rot_matrix = p.getMatrixFromQuaternion(cam_orientation)
# offset to base pos
cam_pos_offset = cam_pos + np.dot(
np.array(rot_matrix).reshape(3, 3), np.array([0.1, 0.0, 0.3]))
target_pos = cam_pos_offset + np.dot(
np.array(rot_matrix).reshape(3, 3), np.array([-1.0, 0.0, 0.0]))
# compute view matrix
view_matrix = p.computeViewMatrix(cam_pos_offset, target_pos, [0, 0, 1])
projection_matrix = p.computeProjectionMatrixFOV(fov, aspect, near, far)
# Get depth values using the OpenGL renderer
if enable_open_gl_rendering:
w, h, rgb, depth, seg = p.getCameraImage(
width,
height,
view_matrix,
projection_matrix,
shadow=True,
renderer=p.ER_BULLET_HARDWARE_OPENGL)
else:
w, h, rgb, depth, seg = p.getCameraImage(
width,
height,
view_matrix,
projection_matrix,
shadow=True,
renderer=p.ER_TINY_RENDERER)
# depth_buffer = np.reshape(images[3], [width, height])
# depth = far * near / (far - (far - near) * depth_buffer)
# seg = np.reshape(images[4],[width,height])*1./255.
return rgb
