real_time_pose_tracking/initialization.py at main · ADEFORGE/real_time_pose_tracking · GitHub

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import mediapipe as mp
import pybullet as p
import pybullet_data

# Initialisation de MediaPipe
mp_drawing = mp.solutions.drawing_utils
mp_pose = mp.solutions.pose
drawing_spec = mp_drawing.DrawingSpec(thickness=1, circle_radius=3)

# Initialisation de PyBullet
def init_pybullet():
    p.connect(p.GUI)
    p.setAdditionalSearchPath(pybullet_data.getDataPath())
    p.setGravity(0, 0, -9.8)
    p.loadURDF("plane.urdf")
    p.resetDebugVisualizerCamera(cameraDistance=2.5, cameraYaw=0, cameraPitch=-20, cameraTargetPosition=[0, 0, 1])
    p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0)
    p.configureDebugVisualizer(p.COV_ENABLE_SEGMENTATION_MARK_PREVIEW, 0)
    p.configureDebugVisualizer(p.COV_ENABLE_DEPTH_BUFFER_PREVIEW, 0)
    p.configureDebugVisualizer(p.COV_ENABLE_RGB_BUFFER_PREVIEW, 0)