def _read_pixels_as_in_window()

in mujoco_py/mjviewer.py [0:0]

• 25 lines of code
• 7 McCabe index (conditional complexity)

    def _read_pixels_as_in_window(self, resolution=None):
        # Reads pixels with markers and overlay from the same camera as screen.
        if resolution is None:
            resolution = glfw.get_framebuffer_size(self.sim._render_context_window.window)

        resolution = np.array(resolution)
        resolution = resolution * min(1000 / np.min(resolution), 1)
        resolution = resolution.astype(np.int32)
        resolution -= resolution % 16
        if self.sim._render_context_offscreen is None:
            self.sim.render(resolution[0], resolution[1])
        offscreen_ctx = self.sim._render_context_offscreen
        window_ctx = self.sim._render_context_window
        # Save markers and overlay from offscreen.
        saved = [copy.deepcopy(offscreen_ctx._markers),
                 copy.deepcopy(offscreen_ctx._overlay),
                 rec_copy(offscreen_ctx.cam)]
        # Copy markers and overlay from window.
        offscreen_ctx._markers[:] = window_ctx._markers[:]
        offscreen_ctx._overlay.clear()
        offscreen_ctx._overlay.update(window_ctx._overlay)
        rec_assign(offscreen_ctx.cam, rec_copy(window_ctx.cam))

        img = self.sim.render(*resolution)
        img = img[::-1, :, :] # Rendered images are upside-down.
        # Restore markers and overlay to offscreen.
        offscreen_ctx._markers[:] = saved[0][:]
        offscreen_ctx._overlay.clear()
        offscreen_ctx._overlay.update(saved[1])
        rec_assign(offscreen_ctx.cam, saved[2])
        return img