def Set_Perspective(self,
camname,
follow_module_name=False,
follow_position=[1.5, 0.75, 0],
follow_distance=0,
cycle=False,
cycle_laptime=4,
follow_height=0.5):
'''Sets the camera perspective configuration for the simulation. Available perspectives depend on the MiroEnvironment used.'''
self.follow_distance = follow_distance
self.follow_height = follow_height
if cycle:
self.cycle = True
self.cycle_angle = -2 * np.pi / cycle_laptime
if camname == 'follow_default':
if not follow_module_name:
print(
'Camera Error: Input a module name to use follow perspective, using default'
)
else:
if follow_module_name in self.modules:
self.follow_default = True
self.followmod = self.modules[follow_module_name]
self.cam_to_obs = -np.array(follow_position)
self.obs_pos = self.followmod.GetCenterOfMass()
self.cam_pos = self.obs_pos - self.cam_to_obs
if follow_distance > 0:
self.cam_to_obs = self.cam_to_obs / np.linalg.norm(
self.cam_to_obs) * follow_distance
else:
print(
'Camera Error: "' + follow_module_name +
'" is not a recognized module and cannot be followed, using default'
)
elif camname in self.camviews:
cam = self.camviews[camname]
self.cam_pos = np.array(cam['pos'])
self.cam_to_obs = np.array(cam['dir']) / np.linalg.norm(
np.array(cam['dir']))
self.cam_to_obs = self.cam_to_obs * cam['lah']
self.obs_pos = self.cam_pos + self.cam_to_obs
else:
if cycle:
print('Camera Error: "' + camname +
'" is not a recognized camera position, cycling default')
else:
print('Camera Error: "' + camname +
'" is not a recognized camera position, using default')
MiroAPI.SetCamera(self.system_list, self.cam_pos, self.obs_pos)
def Set_Camera(self):
'''This sets the camera during simulation. For internal usage when the simulation is being run,
use SetPerspective to configure the camera before running the simulation.'''
if self.freecam:
return
if self.cycle:
self.cam_to_obs = MiroAPI.rotateVector(self.cam_to_obs,
self.cycle_angle / self.fps,
[0, 1, 0],
rotDegrees=False)
self.cam_to_obs = (49 * self.cam_to_obs +
self.followmod.GetCenterOfMassVelocity()) / 50
self.cam_to_obs = self.cam_to_obs / np.linalg.norm(self.cam_to_obs)
self.cam_pos = self.obs_pos - self.cam_to_obs
MiroAPI.SetCamera(self.system_list, self.cam_pos, self.obs_pos)
if self.follow_default:
if np.linalg.norm(self.followmod.GetCenterOfMassVelocity()) > 1e-2:
#oldest working
#cam_to_obs[0] = cam_to_obs[0] * np.cos(self.follow_angle)
#cam_to_obs[1] = cam_to_obs[0] * np.sin(self.follow_angle)
#cam_to_obs[2] = cam_to_obs[2] * np.cos(self.follow_angle)
self.obs_pos = (12 * self.obs_pos +
self.followmod.GetCenterOfMass()) / 13
self.cam_up = (9 * self.cam_up + np.array([0, 1, 0])) / 10
cam_to_obs = (
self.followmod.GetCenterOfMassVelocity() /
np.linalg.norm(self.followmod.GetCenterOfMassVelocity()))
cam_to_obs *= self.follow_distance
cam_pos = self.obs_pos - self.cam_to_obs
cam_pos[1] += self.follow_height
self.cam_pos = (9 * self.cam_pos +
cam_pos) / 10 # good val = 1/2
MiroAPI.SetCamera(self.system_list, self.cam_pos, self.obs_pos,
self.cam_up)
cam_to_obs = (49 * self.cam_to_obs + cam_to_obs) / (49 + 1)
self.cam_to_obs = cam_to_obs
if self.camera_sweep:
i = self.sweepstep
sweep_divs = 100
self.cam_pos = (
(sweep_divs - i) * self.sweep_cam[self.sweepnr - 1] +
(i) * self.sweep_cam[self.sweepnr]) / sweep_divs
self.obs_pos = (
(sweep_divs - i) * self.sweep_obs[self.sweepnr - 1] +
(i) * self.sweep_obs[self.sweepnr]) / sweep_divs
MiroAPI.SetCamera(self.system_list, self.cam_pos, self.obs_pos)
self.sweepstep += 1
if self.sweepstep > sweep_divs:
self.sweepstep = 0
self.sweepnr += 1
if self.sweepnr >= self.sweepsteps:
self.camera_sweep = False
if not self.cycle and not self.follow:
return