def set_noise(self, body_id, link_id, rgb1, rgb2, fraction=0.9):
"""
Apply noise to the texture.
Args:
body_id (int): body index.
link_id (int): link index in the body.
rgb1 (list or np.ndarray): background rgb color
(shape: :math:`[3,]`).
rgb2 (list or np.ndarray): color of random noise
foreground color (shape: :math:`[3,]`).
fraction (float): fraction of pixels with
foreground color.
"""
if not self._check_link_has_tex(body_id, link_id):
return
rgb1 = np.array(rgb1).flatten()
rgb2 = np.array(rgb2).flatten()
tex_id, height, width = self.texture_dict[body_id][link_id]
fraction = clamp(fraction, 0.0, 1.0)
mask = np.random.uniform(size=(height, width)) < fraction
new_color = np.tile(rgb1, (height, width, 1))
new_color[mask, :] = rgb2
p.changeTexture(tex_id,
new_color.flatten(),
width,
height,
physicsClientId=self._pb_id)
def set_texture(texture, image):
# Alias/WaveFront Material (.mtl) File Format
# https://people.cs.clemson.edu/~dhouse/courses/405/docs/brief-mtl-file-format.html
#print(get_visual_data(body))
width, height, channels = image.shape
pixels = image.flatten().tolist()
assert len(pixels) <= 524288
# b3Printf: uploadBulletFileToSharedMemory 747003 exceeds max size 524288
p.changeTexture(texture, pixels, width, height, physicsClientId=CLIENT)
def load(self, parent):
self.parent = parent
num_planes = p.getNumJoints(parent)
self.joints = [-1] + list(range(num_planes))
self.textures = []
for j in self.joints:
p.changeVisualShape(parent, j, rgbaColor=[1, 1, 1, 1])
t = p.loadTexture(DATA_DIR + "tex256.png")
self.textures.append(t)
p.changeTexture(t, self.random_pixels(), self.w, self.h)
p.changeVisualShape(parent, j, textureUniqueId=t)
def set_gradient(self, body_id, link_id, rgb1, rgb2, vertical=True):
"""
Creates a linear gradient from rgb1 to rgb2.
Args:
body_id (int): body index.
link_id (int): link index in the body.
rgb1 (list or np.ndarray): first rgb color (shape: :math:`[3,]`).
rgb2 (list or np.ndarray): second rgb color (shape: :math:`[3,]`).
vertical (bool): if True, the gradient in the vertical direction,
if False it's in the horizontal direction.
"""
rgb1 = np.array(rgb1).reshape(1, 3)
rgb2 = np.array(rgb2).reshape(1, 3)
if not self._check_link_has_tex(body_id, link_id):
return
tex_id, height, width = self.texture_dict[body_id][link_id]
if vertical:
intp = np.linspace(0, 1, height)
comp_intp = 1.0 - intp
rgb_intp = np.multiply(rgb1, intp[:, None])
rgb_intp += np.multiply(rgb2, comp_intp[:, None])
new_color = np.repeat(rgb_intp, width, axis=0).flatten()
else:
intp = np.linspace(0, 1, width)
comp_intp = 1.0 - intp
rgb_intp = np.multiply(rgb1, intp[:, None])
rgb_intp += np.multiply(rgb2, comp_intp[:, None])
new_color = np.repeat(rgb_intp[None, :, :], height,
axis=0).flatten()
new_color = new_color.astype(np.uint8)
p.changeTexture(tex_id,
new_color,
width,
height,
physicsClientId=self._pb_id)
def randomize(self):
for t in self.textures:
p.changeTexture(t, self.random_pixels(), self.w, self.h)
# Width
for i in range(width):
# Height
for j in range(height):
# Change color
image[(i + j * width) * 3 + 0] = i
image[(i + j * width) * 3 + 1] = (j + blue) % 256
image[(i + j * width) * 3 + 2] = blue
# end for
# end for
# Increase blue component
blue = blue + 1
# Change texture
p.changeTexture(text_uid, image, width, height)
# Start measuring time
start = time.time()
# Get image from camera
p.getCameraImage(300, 300, renderer=p.ER_BULLET_HARDWARE_OPENGL)
end = time.time()
# Print time for rendering
print("rendering duration")
print(end - start)
# end for
# Stop state logging
width = 256
height = 256
pixels = [255] * width * height * 3
colorR = 0
colorG = 0
colorB = 0
#p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
#p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
blue = 0
logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "renderbench.json")
for i in range(100000):
p.stepSimulation()
for i in range(width):
for j in range(height):
pixels[(i + j * width) * 3 + 0] = i
pixels[(i + j * width) * 3 + 1] = (j + blue) % 256
pixels[(i + j * width) * 3 + 2] = blue
blue = blue + 1
p.changeTexture(texUid, pixels, width, height)
start = time.time()
p.getCameraImage(300, 300, renderer=p.ER_BULLET_HARDWARE_OPENGL)
end = time.time()
print("rendering duration")
print(end - start)
p.stopStateLogging(logId)
#p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
#p.configureDebugVisualizer(p.COV_ENABLE_GUI,1)
width = 256
height = 256
pixels = [255] * width * height * 3
colorR = 0
colorG = 0
colorB = 0
#p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
#p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
blue = 0
logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "renderbench.json")
for i in range(100000):
p.stepSimulation()
for i in range(width):
for j in range(height):
pixels[(i + j * width) * 3 + 0] = i
pixels[(i + j * width) * 3 + 1] = (j + blue) % 256
pixels[(i + j * width) * 3 + 2] = blue
blue = blue + 1
p.changeTexture(texUid, pixels, width, height)
start = time.time()
p.getCameraImage(300, 300, renderer=p.ER_BULLET_HARDWARE_OPENGL)
end = time.time()
print("rendering duraction")
print(end - start)
p.stopStateLogging(logId)
#p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
#p.configureDebugVisualizer(p.COV_ENABLE_GUI,1)
