https://github.com/lemonpi/view_animator
Programmatically change the camera view for a variety of environments
https://github.com/lemonpi/view_animator
Last synced: 8 months ago
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Programmatically change the camera view for a variety of environments
- Host: GitHub
- URL: https://github.com/lemonpi/view_animator
- Owner: LemonPi
- License: mit
- Created: 2023-02-10T00:20:30.000Z (about 3 years ago)
- Default Branch: master
- Last Pushed: 2023-02-10T02:16:56.000Z (about 3 years ago)
- Last Synced: 2025-02-22T18:39:37.605Z (about 1 year ago)
- Language: Python
- Size: 8.79 KB
- Stars: 2
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE.txt
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README
## View Animator
This package allows you to programmatically change the camera view for a variety of environments
(for example pybullet simulation, and RViz visualization).
## Installation
```shell
pip install view-animator
```
Each animator may have specific environment installation pre-requisites, listed below.
## Usage
The core of it is an animator object and its `update()` method. You can either `update()` the animator
manually, or automatically in a separate daemon thread.
Example automatic orbiting animation
```python
from view_animator import animate_view_in_background
from view_animator.pybullet_animator import PybulletOrbitter
import pybullet as p
p.connect(p.GUI)
# other simulator configurations
# animate an orbit in the background at a distance of 0.5 away from the origin
# one orbit will be completed in 10 seconds and by default will loop forever
orbiter = PybulletOrbitter(update_period=0.01, dist=0.5, target=(0, 0, 0), period=10)
animate_view_in_background(orbiter)
# set up objects
p.setRealTimeSimulation(1)
while True:
# do sim computations
time.sleep(0.001)
```
Manual updating of an RViz orbiter
```python
from view_animator.rviz_animator import RVizOrbiter
import rospy
# the target specified will be relative to the world_frame
orbiter = RVizOrbiter(period=5, world_frame="world")
rate = rospy.Rate(1 / orbiter.update_period)
while not rospy.is_shutdown():
# visualization and other processing
orbiter.update()
rate.sleep()
```
## Animators
While you can subclass `view_animator.base_animator.ViewAnimator` directly to suit your specific environment
and desired animation, there are a few predefined animators listed below. Note that you do not have to
have the environment installed to install this package.
### Pybullet
Install pybullet with
```pip install pybullet```
- `view_animator.pybullet_animator.PybulletOrbitter` for orbitting around a position with fixed pitch at a constant rate
### RViz
Requires the `rviz_animated_view_controller` plugin that can be installed with
```shell
sudo apt install ros--rviz-animated-view-controller
```
e.g.
```shell
sudo apt install ros-noetic-rviz-animated-view-controller
```
- `view_animator.rviz_animator.RVizOrbitter` for orbitting around a position with fixed pitch at a constant rate