Python pybullet.ER_TINY_RENDERER Examples

The following are 5 code examples of pybullet.ER_TINY_RENDERER(). 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: renderer.py    From mvp_grasp with BSD 3-Clause "New" or "Revised" License 6 votes vote down vote up 
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 #2
Source File: env_bases.py    From GtS with MIT License 6 votes vote down vote up 
def render_physics(self):
        robot_pos, _ = p.getBasePositionAndOrientation(self.robot_tracking_id)
        
        view_matrix = p.computeViewMatrixFromYawPitchRoll(
            cameraTargetPosition=robot_pos,
            distance=self.tracking_camera["distance"],
            yaw=self.tracking_camera["yaw"],
            pitch=self.tracking_camera["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)
        with Profiler("render physics: Get camera image"):
            (_, _, px, _, _) = p.getCameraImage(
            width=self._render_width, height=self._render_height, viewMatrix=view_matrix,
                projectionMatrix=proj_matrix,
                renderer=p.ER_TINY_RENDERER
                )
        rgb_array = np.array(px).reshape((self._render_width, self._render_height, -1))
        rgb_array = rgb_array[:, :, :3]
        return rgb_array
Example #3
Source File: env_bases.py    From midlevel-reps with MIT License 6 votes vote down vote up 
def render_physics(self):
        robot_pos, _ = p.getBasePositionAndOrientation(self.robot_tracking_id)
        
        view_matrix = p.computeViewMatrixFromYawPitchRoll(
            cameraTargetPosition=robot_pos,
            distance=self.tracking_camera["distance"],
            yaw=self.tracking_camera["yaw"],
            pitch=self.tracking_camera["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)
        with Profiler("render physics: Get camera image"):
            (_, _, px, _, _) = p.getCameraImage(
            width=self._render_width, height=self._render_height, viewMatrix=view_matrix,
                projectionMatrix=proj_matrix,
                renderer=p.ER_TINY_RENDERER
                )
        rgb_array = np.array(px)
        rgb_array = rgb_array[:, :, :3]
        return rgb_array
Example #4
Source File: bullet_world.py    From NTP-vat-release with MIT License 5 votes vote down vote up 
def capture_image(self):
        width, height, im, depth, seg = p.getCameraImage(64, 64, list(
            self.view_matrix), list(self.projection_matrix), renderer=p.ER_TINY_RENDERER)
        self.depth = depth
        im = np.array(im).reshape([height, width, -1])
        return im[:, :, :3]
Example #5
Source File: turtlebot_pybullet.py    From SocialRobot with Apache License 2.0 4 votes vote down vote up 
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