fix simulation camera

visualization/logger.py

@@ -18,6 +18,12 @@ class SimulationLogger:
     def __init__(self):
         rr.init("camera_simulation")
         rr.log("world", rr.ViewCoordinates.RIGHT_HAND_Y_UP, timeless=True)
+        # Default camera intrinsics
+        self.K = np.array([
+            [500, 0, 960],  # adjusted for 1920x1080
+            [0, 500, 540],  # adjusted for 1920x1080
+            [0, 0, 1]
+        ])
 
     def log_metadata(self, instructions: List[Dict[str, Any]]) -> None:
         if not instructions:
@@ -86,6 +92,20 @@ class SimulationLogger:
                 ),
                 timeless=True
             )
+
+            # Add trajectory line
+            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)}")
 
@@ -95,11 +115,12 @@ class SimulationLogger:
 
         for frame_idx, camera_frame in enumerate(camera_frames):
             try:
-                rr.set_time_sequence("frame", frame_idx)
+                rr.set_time_sequence("frame_idx", frame_idx)
 
                 position = vector3_to_numpy(camera_frame['position'])
                 rotation_q = euler_to_quaternion(camera_frame['angle'])
 
+                # Log camera transform
                 rr.log(
                     "world/camera",
                     rr.Transform3D(
@@ -108,10 +129,11 @@ class SimulationLogger:
                     )
                 )
 
+                # Log camera image plane with intrinsics
                 rr.log(
-                    "world/camera/view",
+                    "world/camera/image",
                     rr.Pinhole(
-                        focal_length=camera_frame.get('focalLength', 50),
+                        image_from_camera=self.K,
                         width=1920,
                         height=1080
                     )