# Copyright (c) Meta Platforms, Inc. and affiliates. # All rights reserved. # # This source code is licensed under the license found in the # LICENSE file in the root directory of this source tree. from collections import deque from dataclasses import dataclass from pathlib import Path from uuid import uuid4 import numpy as np import rerun as rr import rerun.blueprint as rrb from loguru import logger from nymeria.data_provider import NymeriaDataProvider from PIL import Image from projectaria_tools.core.sensor_data import ImageData from projectaria_tools.core.sophus import SE3 from tqdm import tqdm @dataclass(frozen=True) class ViewerConfig: output_rrd: Path = None sample_fps: float = 10 rotate_rgb: bool = True downsample_rgb: bool = True jpeg_quality: int = 90 traj_tail_length: int = 100 ep_recording_head: str = "recording_head/2d" ep_recording_observer: str = "recording_observer/2d" point_radii: float = 0.008 line_radii: float = 0.008 skel_radii: float = 0.01 class NymeriaViewer(ViewerConfig): palette: dict[str, list] = { "recording_head": [255, 0, 0], "recording_lwrist": [0, 255, 0], "recording_rwrist": [0, 0, 255], "recording_observer": [61, 0, 118], "pointcloud": [128, 128, 128, 128], "momentum": [218, 234, 134], } color_skeleton = np.array( [ [127, 0, 255], [105, 34, 254], [81, 71, 252], [59, 103, 249], [35, 136, 244], [11, 167, 238], [10, 191, 232], [34, 214, 223], [58, 232, 214], [80, 244, 204], [104, 252, 192], [128, 254, 179], [150, 252, 167], [174, 244, 152], [196, 232, 138], [220, 214, 122], [244, 191, 105], [255, 167, 89], [255, 136, 71], [255, 103, 53], [255, 71, 36], [255, 34, 17], ] ) def __init__(self, **kwargs) -> None: super().__init__(**kwargs) blueprint = rrb.Horizontal( rrb.Spatial3DView(name="3d"), rrb.Vertical( rrb.Spatial2DView(name="2d participant", origin=self.ep_recording_head), rrb.Spatial2DView( name="2d observer", origin=self.ep_recording_observer ), ), ) rr.init( "nymeria data viewer", spawn=(self.output_rrd is None), recording_id=uuid4(), default_blueprint=blueprint, ) if self.output_rrd is not None: rr.save(self.output_rrd) rr.log("world", rr.ViewCoordinates.RIGHT_HAND_Z_UP, static=True) self._init_mesh: bool = False self._epaths_3d: set[str] = set() self._traj_deques: dict[str, deque] = {} def __call__(self, nymeria_dp: NymeriaDataProvider): # add static scene self.__log_pointcloud(nymeria_dp) self.__log_trajectory(nymeria_dp) # add dynamic scene t_ns_start, t_ns_end = nymeria_dp.timespan_ns dt: int = int(1e9 / self.sample_fps) for idx, t_ns in tqdm(enumerate(range(t_ns_start, t_ns_end, dt))): rr.set_time_sequence("frames", idx) rr.set_time_nanos("timestamps_ns", t_ns) self.__log_synced_video(t_ns, nymeria_dp) self.__log_synced_poses(t_ns, nymeria_dp) self.__set_viewpoint() def __log_pointcloud(self, nymeria_dp: NymeriaDataProvider) -> None: pointclouds = nymeria_dp.get_all_pointclouds() for tag, pts in pointclouds.items(): logger.info(f"add point cloud {tag}") cc = self.palette.get("pointcloud") ep = f"world/semidense_pts/{tag}" rr.log( entity_path=ep, entity=rr.Points3D(pts, colors=cc, radii=self.point_radii), static=True, ) self._epaths_3d.add(ep) def __log_trajectory(self, nymeria_dp: NymeriaDataProvider) -> None: trajs: dict[str, np.ndarray] = nymeria_dp.get_all_trajectories() for tag, traj in trajs.items(): logger.info(f"add trajectory {tag}, {traj.shape=}") ep = f"world/traj_full/{tag}" rr.log( ep, rr.LineStrips3D( traj[:, :3, 3], colors=self.palette.get(tag), radii=self.line_radii ), static=True, ) self._epaths_3d.add(ep) def __log_synced_video(self, t_ns: int, nymeria_dp: NymeriaDataProvider) -> None: images: dict[str, tuple] = nymeria_dp.get_synced_rgb_videos(t_ns) for tag, data in images.items(): rgb: ImageData = data[0] if self.downsample_rgb: rgb = rgb.to_numpy_array()[::2, ::2, :] rgb = Image.fromarray(rgb.astype(np.uint8)) if self.rotate_rgb: rgb = rgb.rotate(-90) if tag in self.ep_recording_head: ep = self.ep_recording_head elif tag in self.ep_recording_observer: ep = self.ep_recording_observer rr.log( f"{ep}/214-1", rr.Image(rgb).compress(jpeg_quality=self.jpeg_quality) ) def __log_synced_poses(self, t_ns: int, nymeria_dp: NymeriaDataProvider) -> None: poses: dict[str, any] = nymeria_dp.get_synced_poses(t_ns) self._T_mv: SE3 = None for tag, val in poses.items(): if "recording" in tag and self.traj_tail_length > 0: traj = self._traj_deques.setdefault(tag, deque()) if self.traj_tail_length > 0 and len(traj) == self.traj_tail_length: traj.popleft() t = val.transform_world_device.translation() traj.append(t.squeeze().tolist()) ep = f"world/traj_tail/{tag}" rr.log( ep, rr.LineStrips3D( traj, colors=self.palette.get(tag), radii=self.line_radii ), ) self._epaths_3d.add(ep) if tag == "xsens": ep = "world/body/xsens_skel" logger.debug(f"xsens skeleton {val.shape = }") rr.log( ep, rr.LineStrips3D( val, colors=self.color_skeleton, radii=self.skel_radii ), static=False, ) self._epaths_3d.add(ep) if tag == "momentum": ep = "world/body/momentum_mesh" if self._init_mesh: rr.log_components(ep, [rr.components.Position3DBatch(val)]) else: faces = nymeria_dp.body_dp.momentum_template_mesh.faces normals = nymeria_dp.body_dp.momentum_template_mesh.normals rr.log( ep, rr.Mesh3D( triangle_indices=faces, vertex_positions=val, vertex_normals=normals, vertex_colors=self.palette.get(tag), ), ) self._init_mesh = True self._epaths_3d.add(ep) if tag == "recording_head": self._T_mv = val.transform_world_device def __set_viewpoint(self, add_rotation: bool = False): if self._T_mv is None: return t = self._T_mv.translation() * -1.0 Rz = np.eye(3) if add_rotation: R = self._T_mv.rotation().to_matrix() psi = np.arctan2(R[1, 0], R[0, 0]) Rz[0:2, 0:2] = np.array( [np.cos(psi), -np.sin(psi), np.sin(psi), np.cos(psi)] ).reshape(2, 2) for ep in self._epaths_3d: rr.log( ep, rr.Transform3D(translation=t, mat3x3=Rz), static=False, )