Python pybullet.computeProjectionMatrixFOV方法代碼示例

# 需要導入模塊: import pybullet [as 別名]
# 或者: from pybullet import computeProjectionMatrixFOV [as 別名]
def take_picture(renderer, width=256, height=256, scale=0.001, conn_id=None):
    view_matrix = p.computeViewMatrix(
        [0, 0, -1], [0, 0, 0], [0, -1, 0], physicsClientId=conn_id
    )
    proj_matrix = p.computeProjectionMatrixFOV(
        20, 1, 0.05, 2, physicsClientId=conn_id
    )
    w, h, rgba, depth, mask = p.getCameraImage(
        width=width,
        height=height,
        projectionMatrix=proj_matrix,
        viewMatrix=view_matrix,
        renderer=renderer,
        physicsClientId=conn_id,
    )
    return rgba 

# 需要導入模塊: import pybullet [as 別名]
# 或者: from pybullet import computeProjectionMatrixFOV [as 別名]
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 

# 需要導入模塊: import pybullet [as 別名]
# 或者: from pybullet import computeProjectionMatrixFOV [as 別名]
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 

# 需要導入模塊: import pybullet [as 別名]
# 或者: from pybullet import computeProjectionMatrixFOV [as 別名]
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 

# 需要導入模塊: import pybullet [as 別名]
# 或者: from pybullet import computeProjectionMatrixFOV [as 別名]
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 

# 需要導入模塊: import pybullet [as 別名]
# 或者: from pybullet import computeProjectionMatrixFOV [as 別名]
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 

# 需要導入模塊: import pybullet [as 別名]
# 或者: from pybullet import computeProjectionMatrixFOV [as 別名]
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 

# 需要導入模塊: import pybullet [as 別名]
# 或者: from pybullet import computeProjectionMatrixFOV [as 別名]
def _reset(self):
    """Environment reset called at the beginning of an episode.
    """
    # Set the camera settings.
    look = [0.23, 0.2, 0.54]
    distance = 1.
    pitch = -56 + self._cameraRandom*np.random.uniform(-3, 3)
    yaw = 245 + self._cameraRandom*np.random.uniform(-3, 3)
    roll = 0
    self._view_matrix = p.computeViewMatrixFromYawPitchRoll(
        look, distance, yaw, pitch, roll, 2)
    fov = 20. + self._cameraRandom*np.random.uniform(-2, 2)
    aspect = self._width / self._height
    near = 0.01
    far = 10
    self._proj_matrix = p.computeProjectionMatrixFOV(
        fov, aspect, near, far)
    
    self._attempted_grasp = False
    self._env_step = 0
    self.terminated = 0

    p.resetSimulation()
    p.setPhysicsEngineParameter(numSolverIterations=150)
    p.setTimeStep(self._timeStep)
    p.loadURDF(os.path.join(self._urdfRoot,"plane.urdf"),[0,0,-1])
    
    p.loadURDF(os.path.join(self._urdfRoot,"table/table.urdf"), 0.5000000,0.00000,-.820000,0.000000,0.000000,0.0,1.0)
            
    p.setGravity(0,0,-10)
    self._kuka = kuka.Kuka(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
    self._envStepCounter = 0
    p.stepSimulation()

    # Choose the objects in the bin.
    urdfList = self._get_random_object(
      self._numObjects, self._isTest)
    self._objectUids = self._randomly_place_objects(urdfList)
    self._observation = self._get_observation()
    return np.array(self._observation) 

# 需要導入模塊: import pybullet [as 別名]
# 或者: from pybullet import computeProjectionMatrixFOV [as 別名]
def foo():
        view_matrix = p.computeViewMatrixFromYawPitchRoll(
                cameraTargetPosition=focal_point,
                distance=focal_dist,
                yaw=yaw,
                pitch=pitch,
                roll=roll,
                upAxisIndex=2)
        projection_matrix = p.computeProjectionMatrixFOV(
                fov=60,
                aspect=aspect,
                nearVal=0.01,
                farVal=1000.0) 

# 需要導入模塊: import pybullet [as 別名]
# 或者: from pybullet import computeProjectionMatrixFOV [as 別名]
def __init__(self, im_width, im_height, fov, near_plane, far_plane, DEBUG=False):
        self.im_width = im_width
        self.im_height = im_height
        self.fov = fov
        self.near_plane = near_plane
        self.far_plane = far_plane
        aspect = self.im_width/self.im_height
        self.pm = pb.computeProjectionMatrixFOV(fov, aspect, near_plane, far_plane)
        self.camera_pos = np.array([0, 0, 0.5])
        self.camera_rot = self._rotation_matrix([0, np.pi, 0])

        self.objects = []

        if DEBUG:
            self.cid = pb.connect(pb.GUI)
        else:
            self.cid = pb.connect(pb.DIRECT)

        pb.setAdditionalSearchPath(pybullet_data.getDataPath())

        pb.setGravity(0, 0, -10)
        self.draw_camera_pos()

        self._rendered = None
        self._rendered_pos = None
        self._rendered_rot = None 

# 需要導入模塊: import pybullet [as 別名]
# 或者: from pybullet import computeProjectionMatrixFOV [as 別名]
def _reset_camera(self):
    look = [0., 0., 0.]
    distance = 3.
    pitch = -30 + np.random.uniform(-10, 10)
    yaw = np.random.uniform(-180, 180)
    roll = 0
    self._view_matrix = pybullet.computeViewMatrixFromYawPitchRoll(
        look, distance, yaw, pitch, roll, 2)
    fov = 30
    aspect = self._width / self._height
    near = 0.1
    far = 10
    self._proj_matrix = pybullet.computeProjectionMatrixFOV(
        fov, aspect, near, far) 

# 需要導入模塊: import pybullet [as 別名]
# 或者: from pybullet import computeProjectionMatrixFOV [as 別名]
def __init__(self, name, target,
                 distance,
                 roll, pitch, yaw,
                 up_idx=2,
                 image_width=1024 / 8,
                 image_height=768 / 8,
                 fov=45,
                 near_plane=0.1,
                 far_plane=10):
        '''
        Create camera matrix for a particular position in the simulation. Task
        definitions should produce these and
        '''
        self.name = name
        self.matrix = np.array(pb.computeViewMatrixFromYawPitchRoll(
            target, distance, yaw=yaw, pitch=pitch, roll=roll, upAxisIndex=up_idx))
        self.image_height = image_height
        self.image_width = image_width
        self.aspect_ratio = self.image_width / self.image_height
        self.fov = fov
        self.near_plane = near_plane
        self.far_plane = far_plane
        self.projection_matrix = np.array(pb.computeProjectionMatrixFOV(
            self.fov,
            self.aspect_ratio,
            self.near_plane,
            self.far_plane)) 

# 需要導入模塊: import pybullet [as 別名]
# 或者: from pybullet import computeProjectionMatrixFOV [as 別名]
def __init__(self,
                 n_actions,  # Dimension of action vector.
                 n_substeps,  # Number of simulation steps to do in every env step.
                 observation_type="low_dim",
                 done_after=float("inf"),
                 use_gui=False,
                 frame_memory_len=0):
        self.n_substeps = n_substeps
        self.metadata = {
            'render.modes': ['rgbd_array'],
            'video.frames_per_second': int(np.round(1.0 / self.dt))
        }
        self.numSteps = 0
        if use_gui:
            physics_client = p.connect(p.GUI)
        else:
            physics_client = p.connect(p.DIRECT)
        self.p = PhysClientWrapper(p, physics_client)
        self.p.setAdditionalSearchPath(pybullet_data.getDataPath())
        self.doneAfter = done_after
        self.observation_type = observation_type
        self.seed()
        self.frameMemoryLen = frame_memory_len
        if frame_memory_len:
            self.frameMemory = deque(maxlen=frame_memory_len)

        self.viewMatrix = p.computeViewMatrix([-1.05, 0, 0.68], [0.1, 0, 0],
                                              [-0.5, 0, 1])
        self.projMatrix = p.computeProjectionMatrixFOV(
            fov=45, aspect=4. / 3., nearVal=0.01, farVal=2.5)
        self.light = {
            "diffuse": 0.4,
            "ambient": 0.5,
            "spec": 0.2,
            "dir": [10, 10, 100],
            "col": [1, 1, 1]
        }
        self._env_setup(initial_qpos=None)

        self.action_space = spaces.Box(
            -1, 1, shape=(n_actions, ), dtype='float32')

        self.pixels_space = spaces.Box(
            -np.inf, np.inf, shape=(84, 84, 3), dtype='float32')
        if observation_type == "low_dim":
            self.observation_space = self.low_dim_space
        elif observation_type == "pixels":
            self.observation_space = self.pixels_space
        elif observation_type == "pixels_stacked":
            self.observation_space = spaces.Box(
                -np.inf, np.inf, shape=(84, 84, 12), dtype='float32')
        elif observation_type == "pixels_depth":
            self.observation_space = spaces.Box(
                -np.inf, np.inf, shape=(84, 84), dtype='float32')
        else:
            raise Exception("Unimplemented observation_type") 

# 需要導入模塊: import pybullet [as 別名]
# 或者: from pybullet import computeProjectionMatrixFOV [as 別名]
def __init__(self,
                 display=True,
                 data_dir='./data',
                 verbose=False,
                 key=None,
                 camera_params={}):

        self._pe = BulletPhysicsEngine()

        self._display = display
        self._data_dir = data_dir
        self._verbose = verbose

        self._bodies = None
        self._robots = None
        self._time_step = None
        self._ctrl_listeners = []

        self._key_dict = None
        self._key_act_dict = None
        self._modifier_dict = None

        # Camera Parameters
        fov = camera_params.get('fov', 60)
        aspect = camera_params.get('aspect', 1)
        near = camera_params.get('near', 0.02)
        far = camera_params.get('far', 1)
        view_matrix = camera_params.get(
            'view_matrix',
            [[0.0, -0.4, 1.4], [0, 0.0, 0], [1, 0, 0]]
        )


        self.view_matrix = p.computeViewMatrix(*view_matrix)
        self.projection_matrix = p.computeProjectionMatrixFOV(
            fov, aspect, near, far)

        self.video_log_key = 0

        # Connect to the simulation
        # TODO(Kuan): If VR
        #     p.connect(p.SHARED_MEMORY)
        if self._display:
            p.connect(p.GUI)
        else:
            if key is None:
                p.connect(p.DIRECT)
            else:
                p.connect(p.DIRECT, key=key) 

# 需要導入模塊: import pybullet [as 別名]
# 或者: from pybullet import computeProjectionMatrixFOV [as 別名]
def render(self, mode='human', close=False):
        if mode != "rgb_array":
            return np.array([])
        camera_target_pos = self.camera_target_pos

        if self.debug:
            self._cam_dist = p.readUserDebugParameter(self.dist_slider)
            self._cam_yaw = p.readUserDebugParameter(self.yaw_slider)
            self._cam_pitch = p.readUserDebugParameter(self.pitch_slider)
            x = p.readUserDebugParameter(self.x_slider)
            y = p.readUserDebugParameter(self.y_slider)
            z = p.readUserDebugParameter(self.z_slider)
            camera_target_pos = (x, y, z)
            # self._cam_roll = p.readUserDebugParameter(self.roll_slider)

        # TODO: recompute view_matrix and proj_matrix only in debug mode
        view_matrix1 = p.computeViewMatrixFromYawPitchRoll(
            cameraTargetPosition=camera_target_pos,
            distance=self._cam_dist,
            yaw=self._cam_yaw,
            pitch=self._cam_pitch,
            roll=self._cam_roll,
            upAxisIndex=2)
        proj_matrix1 = p.computeProjectionMatrixFOV(
            fov=60, aspect=float(RENDER_WIDTH) / RENDER_HEIGHT,
            nearVal=0.1, farVal=100.0)
        (_, _, px1, _, _) = p.getCameraImage(
            width=RENDER_WIDTH, height=RENDER_HEIGHT, viewMatrix=view_matrix1,
            projectionMatrix=proj_matrix1, renderer=self.renderer)
        rgb_array1 = np.array(px1)

        if self.multi_view:
            # adding a second camera on the other side of the robot
            view_matrix2 = p.computeViewMatrixFromYawPitchRoll(
                cameraTargetPosition=(0.316, 0.316, -0.105),
                distance=1.05,
                yaw=32,
                pitch=-13,
                roll=0,
                upAxisIndex=2)
            proj_matrix2 = p.computeProjectionMatrixFOV(
                fov=60, aspect=float(RENDER_WIDTH) / RENDER_HEIGHT,
                nearVal=0.1, farVal=100.0)
            (_, _, px2, _, _) = p.getCameraImage(
                width=RENDER_WIDTH, height=RENDER_HEIGHT, viewMatrix=view_matrix2,
                projectionMatrix=proj_matrix2, renderer=self.renderer)
            rgb_array2 = np.array(px2)
            rgb_array_res = np.concatenate((rgb_array1[:, :, :3], rgb_array2[:, :, :3]), axis=2)
        else:
            rgb_array_res = rgb_array1[:, :, :3]
        return rgb_array_res