目录
computeViewMatrixFromYawPitchRoll
Synthetic Camera Rendering
PyBullet有一个内置的OpenGL GPU可视化工具和一个基于TinyRenderer的内置CPU渲染器。 这使得从任意相机位置渲染图像变得非常容易。
合成相机由两个4x4矩阵指定:视图矩阵和投影矩阵。 由于这两个矩阵不是非常直观,因此有一些辅助方法可以利用易于理解的参数来计算这两个矩阵。
computeViewMatrix
computeViewMatrix输出4x4视图矩阵,存储为16个浮点数的list。输入参数如下表所示
required | cameraEyePosition | vec3, list of 3 floats | Eye(camera)的位置,以笛卡尔世界坐标表示 |
required | cameraTargetPosition | vec3, list of 3 floats | 目标(焦点)点的位置,以笛卡尔世界坐标表示 |
required | cameraUpVector | vec3, list of 3 floats | up vector of the camera, 以笛卡尔世界坐标表示 |
optional | physicsClientId | int | 未使用,已添加以确保API一致性 |
computeViewMatrixFromYawPitchRoll
输出4x4视图矩阵,存储为16个浮点数的list,输入参数为:
required | cameraTargetPosition | list of 3 floats | 笛卡尔世界坐标系中的目标焦点 |
required | distance | float | eye与焦点之间的距离 |
required | yaw | float | yaw angle in degrees left/right around up-axis. |
required | pitch | float | pitch in degrees up/down. |
required | roll | float | roll in degrees around forward vector |
required | upAxisIndex | int | either 1 for Y or 2 for Z axis up. |
optional | physicsClientId | int | unused, added for API consistency. |
computeProjectionMatrix
输出是4x4投影矩阵,存储为16个浮点的列表。输入参数如下:
required | left | float | 左屏幕(画布)坐标 |
required | right | float | 右屏幕(画布)坐标 |
required | bottom | float | bottom screen (canvas) coordinate |
required | top | float | top screen (canvas) coordinate |
required | near | float | near plane distance |
required | far | float | far plane distance |
optional | physicsClientId | int | unused, added for API consistency. |
computeProjectionMatrixFOV
此命令还可以使用不同的参数返回4x4投影矩阵。 您可以查看OpenGL文档中有关参数的含义。
输入参数为:
required | fov | float | field of view |
required | aspect | float | 长宽比 |
required | nearVal | float | near plane distance |
required | farVal | float | far plane distance |
optional | physicsClientId | int | unused, added for API consistency. |
getCameraImage
getCameraImage API将返回RGB图像,depth buffer 和segmentation mask buffer,其中每个像素都有可见对象的主体唯一ID。 请注意,可以使用numpy选项编译PyBullet:使用numpy将提高将相机像素从C复制到Python的性能。 注意:旧的renderImage API已过时,已由getCameraImage取代。getCameraImage的输入参数:
getCameraImage返回参数列表:
width | int | 宽度图像分辨率(以像素为单位)(水平) |
height | int | 高度图像分辨率(以像素为单位)(垂直) |
rgbPixels | list of [char RED,char GREEN,char BLUE, char ALPHA] [0..width*height] | RGB像素颜色列表,一种格式,每种颜色的范围为[0..255] |
depthPixels | list of float [0..width*height] | depth buffer |
segmentationMaskBuffer | list of int [0..width*height] | Only available when using ER_TINY_RENDERER. For each pixels the visible object unique id. If ER_SEGMENTATION_MASK_OBJ ECT_AND_LINKINDEX is used, the segmentationMaskBuffer combines the object unique id and link index as follows: value = objectUniqueId + (linkIndex+1)<<24. See example. So for a free floating body without joints/links, the segmentation mask is equal to its body unique id, since its link index is -1. |
请注意,对于大图像而言,将像素从C / C ++复制到Python真的很慢,除非您使用NumPy编译PyBullet。 您可以使用PyBullet.isNumpyEnabled()检查是否启用了NumPy。
getVisualShapeData
您可以使用getVisualShapeData访问visual shape 信息。 您可以使用它将自己的渲染方法与PyBullet仿真联系起来,并在每个仿真步骤之后手动同步世界坐标变换。输入参数:
required | objectUniqueId | int | 物体的唯一ID,由load方法返回。 |
optional | physicsClientId | int | physics client id as returned by 'connect' |
输出是visual shape 数据的列表,每个visual shape 的格式如下:
objectUniqueId | int | object unique id, same as the input |
linkIndex | int | link index or -1 for the base |
visualGeometryType | int | visual geometry type (TBD) |
dimensions | vec3, list of 3 floats | dimensions (size, local scale) of the geometry |
meshAssetFileName | string, list of chars | path to the triangle mesh, if any. Typically relative to the URDF, SDF or MJCF file location, but could be absolute. |
localVisualFrame position | vec3, list of 3 floats | position of local visual frame, relative to link/joint frame |
localVisualFrame orientation | vec4, list of 4 floats | orientation of local visual frame relative to link/joint frame |
rgbaColor | vec4, list of 4 floats | URDF color (if any specified) in red/green/blue/alpha |
The physics simulation uses center of mass as a reference for the Cartesian world transforms, in getBasePositionAndOrientation and in getLinkState. If you implement your own rendering, you need to transform the local visual transform to world space, making use of the center of mass world transform and the (inverse) localInertialFrame. You can access the localInertialFrame using the getLinkState API.
changeVisualShape
可以使用changeVisualShape更改形状的纹理。 当前,此纹理将仅影响软件渲染器(请参见getCameraImage),而不影响OpenGL可视化窗口(yet)。
loadTexture
从文件加载纹理,如果加载成功,则返回非负整数作为纹理的唯一ID。 此唯一的ID可以与changeVisualShape一起使用。