Migrate projectaria_tools to rerun-sdk 0.33

Reviewed By: PiotrBrzyski

Differential Revision: D112778867

fbshipit-source-id: f1be56235304c5c3e4f38180596d58045316d3d8

Author: generatedunixname2013818519498903

examples/Gen1/python_samples/SAM_eye_gaze_prompt/SAM_eye_prompt_demo.py

@@ -172,8 +172,8 @@ def main():
     # Iterate over the data and LOG data as we see fit
     for data in provider.deliver_queued_sensor_data(deliver_option):
         device_time_ns = data.get_time_ns(TimeDomain.DEVICE_TIME)
-        rr.set_time_nanos("device_time", device_time_ns)
-        rr.set_time_sequence("timestamp", device_time_ns)
+        rr.set_time("device_time", duration=device_time_ns * 1e-9)
+        rr.set_time("timestamp", sequence=device_time_ns)
         progress_bar.update(1)
         iteration += 1
 

examples/Gen1/python_samples/mps_semidense_point_visibility/mps_semidense_point_visibility_demo.py

@@ -224,7 +224,7 @@ def display_tracks_and_points(
 #
 for data in tqdm(vrs_data_provider.deliver_queued_sensor_data(deliver_option)):
     device_time_ns = data.get_time_ns(TimeDomain.DEVICE_TIME)
-    rr.set_time_nanos("device_time", device_time_ns)
+    rr.set_time("device_time", duration=device_time_ns * 1e-9)
 
     # Display device pose
     closed_loop_pose = mps_data_provider.get_closed_loop_pose(device_time_ns)

projectaria_tools/tools/aria_rerun_viewer/aria_data_plotter.py

@@ -1436,7 +1436,12 @@ def plot_vio_data(self, vio_data):
             "world/device",
             ToTransform3D(
                 T_World_Device,
-                axis_length=self.PLOT_COLORS_AND_SIZES_3D["vio"]["device_axis_length"],
+            ),
+        )
+        rr.log(
+            "world/device",
+            rr.TransformAxes3D(
+                length=self.PLOT_COLORS_AND_SIZES_3D["vio"]["device_axis_length"]
             ),
         )
 

projectaria_tools/utils/rerun_helpers.py

@@ -25,17 +25,14 @@
 #
 # Rerun helper functions
 #
-def ToTransform3D(
-    pose: SE3, from_parent: bool = False, axis_length: float = 1e-2
-) -> rr.Transform3D:
+def ToTransform3D(pose: SE3, from_parent: bool = False) -> rr.Transform3D:
     """
     Helper function to convert Sophus SE3D pose to a Rerun Transform3D
     """
     quat_xyzw = np.roll(
         pose.rotation().to_quat()[0], -1
     )  # change from w,x,y,z to x,y,z,w
     transform_3d = rr.Transform3D(
-        axis_length=axis_length,
         translation=pose.translation()[0],
         rotation=rr.Quaternion(xyzw=quat_xyzw),
     )

setup.py

@@ -165,7 +165,7 @@ def main():
             "plotly",
             "requests",
             "rerun-notebook==0.26.2",
-            "rerun-sdk==0.26.2",
+            "rerun-sdk==0.33.0",
             "scipy",
             "tqdm",
         ],