阴影未显示在 Pybullet getCameraImage 中

发布于 2025-01-10 22:22:36 字数 1485 浏览 0 评论 0原文

我正在尝试在 Pybullet 模拟器中捕获的图像中产生阴影。阴影在 debugGUI 模式下显示，但在调用 p.getCameraImage 时不可见，即使使用 shadow=True 也是如此。

我注意到的另一件事是，当 p.getCameraImage 中的 shadow=True 时，会出现一个大阴影，就好像有一个高大的物体挡住了光线，而不是对应于目的。

无论是连接到直接 (p.connect(p.DIRECT)) 还是 GUI (p.connect(p.GUI))，如下所示：https://github.com/bulletphysicals/bullet3/issues/2610 和我下面附上了重现该问题所需的最小代码示例。

import pybullet as p
import pybullet_data
from PIL import Image
import math
physicsClient = p.connect(p.DIRECT)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.configureDebugVisualizer(p.COV_ENABLE_SHADOWS, 1) # Shadows on/off

planeId = p.loadURDF("plane.urdf")
p.loadURDF("sphere_small.urdf",[0,0,0.2])
projectionMatrix = p.computeProjectionMatrixFOV(
    fov=90.0,
    aspect=16. / 9.,
    nearVal=0.1,
    farVal=30)
for i in range(360):
    viewMatrix = p.computeViewMatrix(
        cameraEyePosition=[2*math.cos(math.radians(i)), 2*math.sin(math.radians(i)),2],
        cameraTargetPosition=[0.0, 0, 0],
        cameraUpVector=[0, 0, 1])
    width, height, rgbImg, depthImg, segImg = p.getCameraImage(
        width=int(1280),
        height=int(720),
        viewMatrix=viewMatrix,
        projectionMatrix=projectionMatrix,
        shadow=True
    )
    im = Image.fromarray(rgbImg)
    im.save('imgs/test/' + str(i) + ".png")

原文

I am trying to produce shadows in a captured image in the Pybullet simulator. The shadows show up in the debugGUI mode but are not visible when calling p.getCameraImage even with shadow=True.

Something else I noticed is when shadow=True in p.getCameraImage there is a large shadow as if there is a tall object blocking the light rather than a small shadow corresponding to the object.

The issue persists whether connected to direct (p.connect(p.DIRECT)) or to GUI (p.connect(p.GUI)) as suggested here: https://github.com/bulletphysics/bullet3/issues/2610 and I have attached a minimum code sample below needed to reproduce the issue.

import pybullet as p
import pybullet_data
from PIL import Image
import math
physicsClient = p.connect(p.DIRECT)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.configureDebugVisualizer(p.COV_ENABLE_SHADOWS, 1) # Shadows on/off

planeId = p.loadURDF("plane.urdf")
p.loadURDF("sphere_small.urdf",[0,0,0.2])
projectionMatrix = p.computeProjectionMatrixFOV(
    fov=90.0,
    aspect=16. / 9.,
    nearVal=0.1,
    farVal=30)
for i in range(360):
    viewMatrix = p.computeViewMatrix(
        cameraEyePosition=[2*math.cos(math.radians(i)), 2*math.sin(math.radians(i)),2],
        cameraTargetPosition=[0.0, 0, 0],
        cameraUpVector=[0, 0, 1])
    width, height, rgbImg, depthImg, segImg = p.getCameraImage(
        width=int(1280),
        height=int(720),
        viewMatrix=viewMatrix,
        projectionMatrix=projectionMatrix,
        shadow=True
    )
    im = Image.fromarray(rgbImg)
    im.save('imgs/test/' + str(i) + ".png")

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