Merge pull request #76 from Simple-Robotics/next

Fixes for VideoRecorder and context

Author: ManifoldFR

CHANGELOG.md

@@ -7,6 +7,11 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [Unreleased]
 
+### Fixed
+
+- utils/VideoRecorder.cpp : fix `m_frameCounter` not being initialized
+- bindings/python : fix recorder context helper
+
 ## [0.3.0] - 2025-06-05
 
 ### Added

bindings/python/candlewick/video_context.py

@@ -1,21 +1,14 @@
 from .pycandlewick.multibody import Visualizer
+from contextlib import contextmanager
 
 
-class visualizer_video_context_wrapper:
-    def __init__(self, viz: Visualizer, filename: str, fps: int):
-        self.visualizer = viz
-        self.filename = filename
-        self.fps = fps
-
-    def __enter__(self):
-        self.visualizer.startRecording(filename=self.filename, fps=self.fps)
-
-    def __exit__(self):
-        self.visualizer.stopRecording()
-
-
+@contextmanager
 def create_recorder_context(viz: Visualizer, filename: str, /, fps: int = 30):
-    return visualizer_video_context_wrapper(viz, filename, fps)
+    viz.startRecording(filename, fps)
+    try:
+        yield
+    finally:
+        viz.stopRecording()
 
 
 __all__ = ["create_recorder_context"]

examples/Ur5WithSystems.cpp

@@ -478,13 +478,13 @@ int main(int argc, char **argv) {
     pin::updateGeometryPlacements(model, pin_data, geom_model, geom_data);
     q = qn;
     debug_scene.update();
+    robot_scene.updateTransforms();
 
     // acquire command buffer and swapchain
     CommandBuffer command_buffer = renderer.acquireCommandBuffer();
 
     if (renderer.waitAndAcquireSwapchain(command_buffer)) {
       const GpuMat4 viewProj = g_camera.camera.viewProj();
-      robot_scene.updateTransforms();
       robot_scene.collectOpaqueCastables();
       auto &castables = robot_scene.castables();
       renderShadowPassFromAABB(command_buffer, shadowPassInfo,

examples/python/go2.py

@@ -10,7 +10,6 @@
         "This example requires the go2_description package, which was not found. Download it at: https://github.com/inria-paris-robotics-lab/go2_description"
     )
     raise
-import time
 import tqdm
 
 
@@ -45,6 +44,6 @@
         if viz.shouldExit:
             break
         viz.display(q0)
-        time.sleep(dt)
+        # time.sleep(dt)
 
 print("Goodbye...")

src/candlewick/multibody/Visualizer.cpp

@@ -150,11 +150,11 @@ Visualizer::~Visualizer() {
 }
 
 void Visualizer::displayImpl() {
-  processEvents();
+  this->processEvents();
 
   debugScene.update();
   robotScene.updateTransforms();
-  render();
+  this->render();
 
   if (!m_currentScreenshotFilename.empty()) {
     takeScreenshot(m_currentScreenshotFilename);

src/candlewick/utils/VideoRecorder.cpp

@@ -42,9 +42,9 @@ namespace media {
   // IMPLEMENTING CLASS ----------------------------------------------
 
   struct VideoRecorderImpl {
-    int m_width;           //< Width of incoming frames
-    int m_height;          //< Height of incoming frames
-    Uint32 m_frameCounter; //< Number of recorded frames
+    int m_width{0};           //< Width of incoming frames
+    int m_height{0};          //< Height of incoming frames
+    Uint32 m_frameCounter{0}; //< Number of recorded frames
 
     AVFormatContext *formatContext = nullptr;
     const AVCodec *codec = nullptr;