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Running
on
Zero
File size: 4,626 Bytes
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import rerun as rr
import numpy as np
from typing import Dict, Any, List
from utils.geometry import vector3_to_numpy, euler_to_quaternion
def create_subject_box(subject: Dict) -> Dict[str, np.ndarray]:
position = vector3_to_numpy(subject['position'])
size = vector3_to_numpy(subject['size'])
return {
'center': position,
'half_size': size / 2
}
class SimulationLogger:
def __init__(self):
rr.init("camera_simulation")
rr.log("world", rr.ViewCoordinates.RIGHT_HAND_Y_UP, timeless=True)
self.K = np.array([
[500, 0, 960],
[0, 500, 540],
[0, 0, 1]
])
def log_metadata(self, instructions: List[Dict[str, Any]]) -> None:
if not instructions:
return
rr.log("metadata/instructions", rr.TextDocument(
"\n".join([
f"Instruction {i+1}:\n" +
f" Movement: {inst.get('cameraMovement', 'N/A')}\n" +
f" Easing: {inst.get('movementEasing', 'N/A')}\n" +
f" Frames: {inst.get('frameCount', 'N/A')}\n" +
f" Camera Angle: {inst.get('initialCameraAngle', 'N/A')}\n" +
f" Shot Type: {inst.get('initialShotType', 'N/A')}\n" +
f" Subject Index: {inst.get('subjectIndex', 'N/A')}"
for i, inst in enumerate(instructions)
])
), timeless=True)
def log_subjects(self, subjects: List[Dict[str, Any]]) -> None:
if not subjects:
return
centers = []
half_sizes = []
colors = []
labels = []
for subject in subjects:
try:
box_params = create_subject_box(subject)
centers.append(box_params['center'])
half_sizes.append(box_params['half_size'])
colors.append([0.8, 0.2, 0.2, 1.0])
labels.append(subject.get('objectClass', 'Unknown'))
except Exception as e:
print(f"Error creating box parameters: {str(e)}")
continue
if centers:
rr.log(
"world/subjects",
rr.Boxes3D(
centers=np.array(centers),
half_sizes=np.array(half_sizes),
colors=np.array(colors),
labels=labels,
fill_mode="solid"
),
timeless=True
)
def log_camera_trajectory(self, camera_frames: List[Dict[str, Any]]) -> None:
if not camera_frames:
return
try:
camera_positions = np.array([
vector3_to_numpy(frame['position']) for frame in camera_frames
])
rr.log(
"world/camera_trajectory",
rr.Points3D(
camera_positions,
colors=np.full((len(camera_positions), 4),
[0.0, 0.8, 0.8, 1.0])
),
timeless=True
)
if len(camera_positions) > 1:
lines = np.stack(
[camera_positions[:-1], camera_positions[1:]], axis=1)
rr.log(
"world/camera_trajectory/line",
rr.LineStrips3D(
lines,
colors=[(0.0, 0.8, 0.8, 1.0)]
),
timeless=True
)
except Exception as e:
print(f"Error logging camera trajectory: {str(e)}")
def log_camera_frames(self, camera_frames: List[Dict[str, Any]]) -> None:
if not camera_frames:
return
for frame_idx, camera_frame in enumerate(camera_frames):
try:
rr.set_time_sequence("frame_idx", frame_idx)
position = vector3_to_numpy(camera_frame['position'])
rotation_q = euler_to_quaternion(camera_frame['angle'])
rr.log(
"world/camera",
rr.Transform3D(
translation=position,
rotation=rr.Quaternion(xyzw=rotation_q)
)
)
rr.log(
"world/camera/image",
rr.Pinhole(
image_from_camera=self.K,
width=1920,
height=1080
)
)
except Exception as e:
print(f"Error logging camera frame {frame_idx}: {str(e)}")
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