refactor logging of helper keyframes to include indexed camera and visual logs

visualization/logger.py

@@ -139,32 +139,33 @@ class SimulationLogger:
             except Exception as e:
                 print(f"Error logging camera frame {frame_idx}: {str(e)}")
 
-    def log_helper_keyframes(self, helper_keyframes: List[Dict[str, Any]]) -> None:
-        if not helper_keyframes:
-            return
-
-        for frame_idx, helper_frame in enumerate(helper_keyframes):
-            try:
-                rr.set_time_sequence("frame_idx", frame_idx)
-
-                position = vector3_to_numpy(helper_frame['position'])
-                rotation_q = euler_to_quaternion(helper_frame['angle'])
-
-                rr.log(
-                    "world/helper",
-                    rr.Transform3D(
-                        translation=position,
-                        rotation=rr.Quaternion(xyzw=rotation_q)
+        def log_helper_keyframes(self, helper_keyframes: List[Dict[str, Any]]) -> None:
+            if not helper_keyframes:
+                return
+
+            for keyframe_idx, helper_keyframe in enumerate(helper_keyframes):
+                try:
+                    position = vector3_to_numpy(helper_keyframe['position'])
+                    rotation_q = euler_to_quaternion(helper_keyframe['angle'])
+                    
+                    rr.log(
+                        f"world/helper_keyframes/camera_{keyframe_idx}",
+                        rr.Transform3D(
+                            translation=position,
+                            rotation=rr.Quaternion(xyzw=rotation_q),
+                            scale=(1.0, 1.0, 1.0)
+                        )
                     )
-                )
 
-                rr.log(
-                    "world/helper/indicator",
-                    rr.Points3D(
-                        points=np.array([position]),
-                        colors=np.array([[1.0, 1.0, 0.0, 1.0]]),  # Yellow
+                    rr.log(
+                        f"world/helper_keyframes/camera_visual_{keyframe_idx}",
+                        rr.Pinhole(
+                            image_from_camera=self.K,
+                            width=1920,
+                            height=1080,
+                            color=(1.0, 1.0, 0.0, 1.0)
+                        )
                     )
-                )
 
-            except Exception as e:
-                print(f"Error logging helper keyframe {frame_idx}: {str(e)}")
+                except Exception as e:
+                    print(f"Error logging helper keyframe {keyframe_idx}: {str(e)}")