def render(self, overlays=(), depth=False, scene_option=None):
"""Renders the camera view as a numpy array of pixel values.
Args:
overlays: An optional sequence of `TextOverlay` instances to draw. Only
supported if `depth` is False.
depth: An optional boolean. If True make the camera measure depth
scene_option: A custom `wrapper.MjvOption` instance to use to render
the scene instead of the default. If None, will use the default.
Returns:
The rendered scene. If `depth` is False this is a NumPy uint8 array of RGB
values, otherwise it is a float NumPy array of depth values (in meters).
Raises:
ValueError: If overlays are requested with depth rendering.
"""
if depth and overlays:
raise ValueError(
'Overlays are not supported with depth rendering.')
self.update(scene_option=scene_option)
with self._physics.contexts.gl.make_current(self._width, self._height):
mjlib.mjr_render(self._rect, self._scene.ptr,
self._physics.contexts.mujoco.ptr)
if depth:
mjlib.mjr_readPixels(None, self._depth_buffer, self._rect,
self._physics.contexts.mujoco.ptr)
# Get distance of near and far clipping planes.
extent = self._physics.model.stat.extent
near = self._physics.model.vis.map_.znear * extent
far = self._physics.model.vis.map_.zfar * extent
# Convert from [0 1] to depth in meters, see links below.
# http://stackoverflow.com/a/6657284/1461210
# https://www.khronos.org/opengl/wiki/Depth_Buffer_Precision
self._depth_buffer = near / (1 - self._depth_buffer *
(1 - near / far))
else:
for overlay in overlays:
overlay.draw(self._physics.contexts.mujoco.ptr, self._rect)
mjlib.mjr_readPixels(self._rgb_buffer, None, self._rect,
self._physics.contexts.mujoco.ptr)
return np.flipud(self._depth_buffer if depth else self._rgb_buffer)
def _render_on_gl_thread(self, depth, overlays):
"""Performs only those rendering calls that require an OpenGL context."""
# Render the scene.
mjlib.mjr_render(self._rect, self._scene.ptr,
self._physics.contexts.mujoco.ptr)
if not depth:
# If rendering RGB, draw any text overlays on top of the image.
for overlay in overlays:
overlay.draw(self._physics.contexts.mujoco.ptr, self._rect)
# Read the contents of either the RGB or depth buffer.
mjlib.mjr_readPixels(self._rgb_buffer if not depth else None,
self._depth_buffer if depth else None, self._rect,
self._physics.contexts.mujoco.ptr)
