search

bulletphysics / bullet3

Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.
http://bulletphysics.org
Other
12.18k stars 2.85k forks source link

Rendered Depth Image in Pybullet #4582

Open ZisongXu opened 4 months ago

ZisongXu commented 4 months ago

I check the rendered depth image in pybullet, this depth image should be generated based on Orthographic Projection Matrix, I do the following experiment:

I place the camera horizontally and then place the target object 5cm in front of the camera and get the rendered depth image;

Then I print the data of the depth image and found that all the pixel points are 0.05, so I conclude that the depth image is generated based on Orthographic Projection Matrix. I want to know if there is a way in pybullet to turn Orthographic Projection Matrix into Perspective Projection Matrix.