def testMovableCameraSetGetPose(self):
height, width = 240, 320
camera = engine.MovableCamera(self._physics, height, width)
image = camera.render().copy()
pose = camera.get_pose()
lookat_offset = np.array([0.01, 0.02, -0.03])
# Would normally pass the new values directly to camera.set_pose instead of
# using the namedtuple _replace method, but this makes the asserts at the
# end of the test a little cleaner.
new_pose = pose._replace(distance=pose.distance * 1.5,
lookat=pose.lookat + lookat_offset,
azimuth=pose.azimuth + -15,
elevation=pose.elevation - 10)
camera.set_pose(*new_pose)
self.assertEqual(new_pose.distance, camera.get_pose().distance)
self.assertEqual(new_pose.azimuth, camera.get_pose().azimuth)
self.assertEqual(new_pose.elevation, camera.get_pose().elevation)
np.testing.assert_allclose(new_pose.lookat, camera.get_pose().lookat)
self.assertFalse(np.all(image == camera.render()))
def render(self,
mode='human',
camera_id=None,
height=1920,
width=2560,
depth=False,
segmentation=False):
if mode == 'rgb_array':
# TODO: cache camera? doesn't seem to affect performance that much
# also use camera._scene.free()? though it will slow things down
if camera_id is None: camera_id = self.camera_id
camera = engine.MovableCamera(self.sim, height=height, width=width)
camera.set_pose(**CAMERAS[camera_id])
# http://www.mujoco.org/book/APIreference.html#mjvOption
# https://github.com/deepmind/dm_control/blob/9e0fe0f0f9713a2a993ca78776529011d6c5fbeb/dm_control/mujoco/engine.py#L200
# mjtRndFlag(mjRND_SHADOW=0, mjRND_WIREFRAME=1, mjRND_REFLECTION=2, mjRND_ADDITIVE=3, mjRND_SKYBOX=4, mjRND_FOG=5, mjRND_HAZE=6, mjRND_SEGMENT=7, mjRND_IDCOLOR=8, mjNRNDFLAG=9)
if not (depth or segmentation):
img = camera.render(render_flag_overrides=dict(
skybox=False, fog=False, haze=False)) # RGB
else:
img = camera.render(depth=depth, segmentation=segmentation)
return img
else:
super(KitchenTaskRelaxV1, self).render()
def render(self, mode='human'):
if mode =='rgb_array':
camera = engine.MovableCamera(self.sim, 1920, 2560)
camera.set_pose(distance=2.2, lookat=[-0.2, .5, 2.], azimuth=70, elevation=-35)
img = camera.render()
return img
else:
super(KitchenTaskRelaxV1, self).render()
def after_compile(self, physics):
"""Instantiate the camera and ensure rendering buffer is large enough."""
buffer_height = max(self._height, physics.model.vis.global_.offheight)
buffer_width = max(self._width, physics.model.vis.global_.offwidth)
physics.model.vis.global_.offheight = buffer_height
physics.model.vis.global_.offwidth = buffer_width
self._camera = engine.MovableCamera(physics,
height=self._height,
width=self._width)
def render(self, mode="human"):
if mode == "rgb_array":
camera = engine.MovableCamera(self.sim, 256, 256)
camera.set_pose(
distance=2.2, lookat=[-0.2, 0.5, 2.0], azimuth=70, elevation=-35
)
img = camera.render()
return img
else:
super(KitchenTaskRelaxV1, self).render()
