def __init__(self, width=1, height=1): """Instance initializer. Args: width: Viewport width, in pixels. height: Viewport height, in pixels. """ self._screen_size = types.MJRRECT(0, 0, width, height)
def __init__(self, physics, height=240, width=320, camera_id=-1, max_geom=None): """Initializes a new `Camera`. Args: physics: Instance of `Physics`. height: Optional image height. Defaults to 240. width: Optional image width. Defaults to 320. camera_id: Optional camera name or index. Defaults to -1, the free camera, which is always defined. A nonnegative integer or string corresponds to a fixed camera, which must be defined in the model XML. If `camera_id` is a string then the camera must also be named. max_geom: Optional integer specifying the maximum number of geoms that can be rendered in the same scene. If None this will be chosen automatically based on the estimated maximum number of renderable geoms in the model. Raises: ValueError: If `camera_id` is outside the valid range, or if `width` or `height` exceed the dimensions of MuJoCo's offscreen framebuffer. """ buffer_width = physics.model.vis.global_.offwidth buffer_height = physics.model.vis.global_.offheight if width > buffer_width: raise ValueError( 'Image width {} > framebuffer width {}. Either reduce ' 'the image width or specify a larger offscreen ' 'framebuffer in the model XML using the clause\n' '<visual>\n' ' <global offwidth="my_width"/>\n' '</visual>'.format(width, buffer_width)) if height > buffer_height: raise ValueError( 'Image height {} > framebuffer height {}. Either reduce ' 'the image height or specify a larger offscreen ' 'framebuffer in the model XML using the clause\n' '<visual>\n' ' <global offheight="my_height"/>\n' '</visual>'.format(height, buffer_height)) if isinstance(camera_id, six.string_types): camera_id = physics.model.name2id(camera_id, 'camera') if camera_id < -1: raise ValueError('camera_id cannot be smaller than -1.') if camera_id >= physics.model.ncam: raise ValueError( 'model has {} fixed cameras. camera_id={} is invalid.'.format( physics.model.ncam, camera_id)) self._width = width self._height = height self._physics = physics # Variables corresponding to structs needed by Mujoco's rendering functions. self._scene = wrapper.MjvScene(model=physics.model, max_geom=max_geom) self._scene_option = wrapper.MjvOption() self._perturb = wrapper.MjvPerturb() self._perturb.active = 0 self._perturb.select = 0 self._rect = types.MJRRECT(0, 0, self._width, self._height) self._render_camera = wrapper.MjvCamera() self._render_camera.fixedcamid = camera_id if camera_id == -1: self._render_camera.type_ = enums.mjtCamera.mjCAMERA_FREE else: # As defined in the Mujoco documentation, mjCAMERA_FIXED refers to a # camera explicitly defined in the model. self._render_camera.type_ = enums.mjtCamera.mjCAMERA_FIXED # Internal buffers. self._rgb_buffer = np.empty((self._height, self._width, 3), dtype=np.uint8) self._depth_buffer = np.empty((self._height, self._width), dtype=np.float32) if self._physics.contexts.mujoco is not None: with self._physics.contexts.gl.make_current() as ctx: ctx.call(mjlib.mjr_setBuffer, enums.mjtFramebuffer.mjFB_OFFSCREEN, self._physics.contexts.mujoco.ptr)
from __future__ import absolute_import from __future__ import division from __future__ import print_function from absl.testing import absltest from absl.testing import parameterized from dm_control.mujoco import wrapper from dm_control.mujoco.wrapper.mjbindings import enums from dm_control.mujoco.wrapper.mjbindings import types from dm_control.viewer import renderer import mock import numpy as np renderer.mjlib = mock.MagicMock() _SCREEN_SIZE = types.MJRRECT(0, 0, 320, 240) class BaseRendererTest(absltest.TestCase): class MockRenderer(renderer.BaseRenderer): pass class MockRenderComponent(renderer.Component): counter = 0 def __init__(self): self._call_order = -1 def render(self, context, viewport): self._call_order = BaseRendererTest.MockRenderComponent.counter