Code:

import matplotlib.pyplot as pltimport numpy as npimport pybullet as pimport pybullet_data as pdp.connect(p.GUI)p.setAdditionalSearchPath(pd.getDataPath())p.loadURDF('plane.urdf')p.loadURDF('cube_small.urdf', basePosition=[0.0, 0.0, 0.025])width = 128height = 128fov = 60aspect = width / heightnear = 0.02far = 1view_matrix = p.computeViewMatrix([0, 0, 0.5], [0, 0, 0], [1, 0, 0])projection_matrix = p.computeProjectionMatrixFOV(fov, aspect, near, far)# Get depth values using the OpenGL rendererimages = p.getCameraImage(width, height, view_matrix, projection_matrix, renderer=p.ER_BULLET_HARDWARE_OPENGL)depth_buffer_opengl = np.reshape(images[3], [width, height])depth_opengl = far * near / (far - (far - near) * depth_buffer_opengl)# Get depth values using Tiny rendererimages = p.getCameraImage(width, height, view_matrix, projection_matrix, renderer=p.ER_TINY_RENDERER)depth_buffer_tiny = np.reshape(images[3], [width, height])depth_tiny = far * near / (far - (far - near) * depth_buffer_tiny)p.disconnect()# Plot both images - should show depth values of 0.45 over the cube and 0.5 over the planeplt.subplot(1, 2, 1)plt.imshow(depth_opengl, cmap='gray', vmin=0, vmax=1)plt.title('OpenGL Renderer')plt.subplot(1, 2, 2)plt.imshow(depth_tiny, cmap='gray', vmin=0, vmax=1)plt.title('Tiny Renderer')plt.show()

Code:

img = p.getCameraImage(224, 224, renderer=p.ER_BULLET_HARDWARE_OPENGL)rgbBuffer = img[2] depthBuffer = img[3] # .astype(np.uint8) ?rgbim = Image.fromarray(rgbBuffer)depim = Image.fromarray(depthBuffer)rgbim.save('test_img/rgbtest'+str(counter)+'.png')depim.save('test_img/depth'+str(counter)+'.tiff')