https://github.com/ikalevatykh/pybullet_rendering

External rendering for PyBullet
https://github.com/ikalevatykh/pybullet_rendering

Last synced: about 2 months ago
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External rendering for PyBullet

• Host: GitHub
• URL: https://github.com/ikalevatykh/pybullet_rendering
• Owner: ikalevatykh
• License: gpl-3.0
• Created: 2020-01-06T13:58:58.000Z (about 5 years ago)
• Default Branch: master
• Last Pushed: 2022-11-21T21:40:19.000Z (about 2 years ago)
• Last Synced: 2024-11-02T22:06:30.033Z (3 months ago)
• Language: C++
• Size: 208 KB
• Stars: 85
• Watchers: 7
• Forks: 12
• Open Issues: 2
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

• awesome-simulation - pybullet_rendering - External rendering for PyBullet ([PyBullet](https://github.com/bulletphysics/bullet3))

README

        
# pybullet_rendering

External rendering for [PyBullet](https://github.com/bulletphysics/bullet3/) simulator.

## Install

### Using pip

```

pip install pybullet_rendering

```

### From source code

Install NumPy

```

pip install numpy

```

Install PyBullet from source code

```

git clone https://github.com/bulletphysics/bullet3.git

cd bullet3

python setup.py install

export BULLET_ROOT_DIR="$PWD"

```

Install the package

```

cd ..

git clone https://github.com/ikalevatykh/pybullet_rendering.git

cd pybullet_rendering

python setup.py install --bullet_dir "$BULLET_ROOT_DIR"

```

Run tests

```

python -m unittest discover tests -v

```

## Run examples

Example of using [Panda3D](https://www.panda3d.org/) for rendering in GUI mode:

```

python -m pybullet_rendering.examples.panda3d_gui --multisamples 8

```

    

Test performance of diferent renderers:

```

python -m pybullet_rendering.examples.performance

```

## Renderers

This package provide example renderers based on [Panda3D](https://www.panda3d.org/) and [pyrender](https://github.com/mmatl/pyrender).

### Example of usage

```python

import pybullet as pb

from pybullet_rendering import RenderingPlugin

from pybullet_rendering.render.panda3d import P3dRenderer # panda3d-based renderer

from pybullet_rendering.render.pyrender import PyrRenderer # pyrender-based renderer

client_id = pb.connect(pb.DIRECT)

# bind your renderer to pybullet

renderer = P3dRenderer(multisamples=4) # or PyrRenderer(platform='egl', egl_device=1)

plugin = RenderingPlugin(client_id, renderer)

# render thru the standard pybullet API

w, h, rgba, depth, mask = pb.getCameraImage(w, h, projectionMatrix=..., viewMatrix=...)

```

### Implement your own renderer in Python

Your renderer should inherit from the `BaseRenderer` class and implement its `update_scene` and `render_frame` methods. To get an idea of their parameters, see examples and tests.

```python

from pybullet_rendering import BaseRenderer

class MyRenderer(BaseRenderer):

    def __init__(self):

        """The base class initializer have to be called first."""

        BaseRenderer.__init__(self)

    def update_scene(self, scene_graph, materials_only):

        """Update a scene using scene_graph description

        Arguments:

            scene_graph {SceneGraph} -- scene description

            materials_only {bool} -- update only shape materials

        """

        for uid, pb_node in scene_graph.nodes.items():

            "update nodes of your scene"

    def render_frame(self, scene_state, scene_view, frame):

        """Render a scene at scene_state with a scene_view settings

        Arguments:

            scene_state {SceneState} --  scene state, e.g. transformations of all objects

            scene_view {SceneView} -- view settings, e.g. camera, light, viewport parameters

            frame {FrameData} -- output image buffer

        """

        w, h = scene_view.viewport        

        if return_to_bullet:

            frame.color_img[:] = ... # np.uint8, (h,w,4)

            frame.depth_img[:] = ... # np.float32 (h,w)

            frame.mask_img[:] = ... # np.int32 (h,w)

            return True

            

        return False  

```

## Citation

If you find pybullet_rendering useful in your research, please cite the repository using the following BibTeX entry.

```

@Misc{kalevatykh2020pybullet_rendering,

  author =       {Kalevatykh, Igor et al.},

  title =        {pybullet_rendering - External rendering for the PyBullet simulator},

  howpublished = {Github},

  year =         {2020},

  url =          {https://github.com/ikalevatykh/pybullet_rendering}

}

```

## License

mano_pybullet is released under the [GPLv3](https://github.com/ikalevatykh/pybullet_rendering/blob/master/LICENSE) license.