Update visualization/logger.py

visualization/logger.py

@@ -185,4 +185,28 @@ class SimulationLogger:
 
         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_camera_{keyframe_idx}",
+                    rr.Transform3D(
+                        translation=position,
+                        rotation=rr.Quaternion(xyzw=rotation_q),
+                        scale=(.5, .5, .5)
+                    ),
+                    timeless=True
+                )
+
+                rr.log(
+                    f"world/helper_camera_{keyframe_idx}/image",
+                    rr.Pinhole(
+                        image_from_camera=self.K,
+                        width=1920,
+                        height=1080,
+                    )
+                )
+
+            except Exception as e:
+                print(f"Error logging helper keyframe {keyframe_idx}: {str(e)}")
+