{Build} Visualization - Migrate Rerun SDK to 0.33 (#374)

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=np.timedelta64(device_time_ns, "ns"))
+        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

@@ -15,6 +15,7 @@
 import os
 from typing import Dict, List
 
+import numpy as np
 import rerun as rr
 import rerun.blueprint as rrb
 from PointsAndObservationsManager import (
@@ -224,7 +225,7 @@ 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=np.timedelta64(device_time_ns, "ns"))
 
     # 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

@@ -227,6 +227,7 @@ class AriaDataViewer:
             "combined_gaze_origin_size": [2e-2, 2e-2, 2e-2],
             "spatial_gaze_point_size": [1e-2, 1e-2, 1e-2],
         },
+        "default_axis_length": 0.02,
     }
 
     PLOT_SIZES_DEVICE_EXTRINSICS_BOXES: Final = {
@@ -569,6 +570,9 @@ def plot_device_extrinsics(self):
                     ],
                     focal_length=float(camera_calibration.get_focal_lengths()[0]),
                 ),
+                rr.TransformAxes3D(
+                    self.PLOT_COLORS_AND_SIZES_3D["default_axis_length"]
+                ),
             )
         mic_labels = self.device_calibration.get_microphone_labels()
         for mic in mic_labels:  # Note: Only defined in CAD extrinsics
@@ -578,7 +582,13 @@ def plot_device_extrinsics(self):
             T_device_sensor = self.device_calibration.get_transform_device_sensor(
                 mic, get_cad_value=True
             )
-            log_static(f"device/mic/{mic}", ToTransform3D(T_device_sensor))
+            log_static(
+                f"device/mic/{mic}",
+                ToTransform3D(T_device_sensor),
+                rr.TransformAxes3D(
+                    self.PLOT_COLORS_AND_SIZES_3D["default_axis_length"]
+                ),
+            )
             log_static(
                 f"device/mic/{mic}/box",
                 ToBox3D(mic, self.PLOT_SIZES_DEVICE_EXTRINSICS_BOXES["microphone"]),
@@ -589,7 +599,13 @@ def plot_device_extrinsics(self):
             T_device_sensor = self.device_calibration.get_transform_device_sensor(
                 imu, get_cad_value=False
             )
-            log_static(f"device/imu/{imu}", ToTransform3D(T_device_sensor))
+            log_static(
+                f"device/imu/{imu}",
+                ToTransform3D(T_device_sensor),
+                rr.TransformAxes3D(
+                    self.PLOT_COLORS_AND_SIZES_3D["default_axis_length"]
+                ),
+            )
             log_static(
                 f"device/imu/{imu}",
                 ToBox3D(imu, self.PLOT_SIZES_DEVICE_EXTRINSICS_BOXES["imu"]),
@@ -602,7 +618,13 @@ def plot_device_extrinsics(self):
             T_device_sensor = self.device_calibration.get_transform_device_sensor(
                 magnetometer, get_cad_value=True
             )
-            log_static(f"device/{magnetometer}", ToTransform3D(T_device_sensor))
+            log_static(
+                f"device/{magnetometer}",
+                ToTransform3D(T_device_sensor),
+                rr.TransformAxes3D(
+                    self.PLOT_COLORS_AND_SIZES_3D["default_axis_length"]
+                ),
+            )
             log_static(
                 f"device/{magnetometer}/box",
                 ToBox3D(
@@ -616,7 +638,13 @@ def plot_device_extrinsics(self):
             T_device_sensor = self.device_calibration.get_transform_device_sensor(
                 barometer, True
             )
-            log_static(f"device/{barometer}", ToTransform3D(T_device_sensor))
+            log_static(
+                f"device/{barometer}",
+                ToTransform3D(T_device_sensor),
+                rr.TransformAxes3D(
+                    self.PLOT_COLORS_AND_SIZES_3D["default_axis_length"]
+                ),
+            )
             log_static(
                 f"device/{barometer}",
                 ToBox3D(
@@ -626,7 +654,11 @@ def plot_device_extrinsics(self):
 
         # Plot CPF (Central Pupil Frame coordinate system)
         T_device_CPF = self.device_calibration.get_transform_device_cpf()
-        log_static("device/CPF_CentralPupilFrame", ToTransform3D(T_device_CPF))
+        log_static(
+            "device/CPF_CentralPupilFrame",
+            ToTransform3D(T_device_CPF),
+            rr.TransformAxes3D(self.PLOT_COLORS_AND_SIZES_3D["default_axis_length"]),
+        )
         log_static(
             "device/CPF_CentralPupilFrame",
             ToBox3D(
@@ -1434,8 +1466,8 @@ def plot_vio_data(self, vio_data):
         )
         rr.log(
             "world/device",
-            ToTransform3D(
-                T_World_Device,
+            ToTransform3D(T_World_Device),
+            rr.TransformAxes3D(
                 axis_length=self.PLOT_COLORS_AND_SIZES_3D["vio"]["device_axis_length"],
             ),
         )

projectaria_tools/tools/viewer_mps/rerun_viewer_mps.py

@@ -183,10 +183,12 @@ def log_camera_pose(
             rr.log(
                 "world/device",
                 ToTransform3D(T_world_device, False),
+                rr.TransformAxes3D(0.02),
             )
             rr.log(
                 f"world/device/{rgb_stream_label}",
                 ToTransform3D(T_device_camera, False),
+                rr.TransformAxes3D(0.02),
             )
 
 

projectaria_tools/tools/viewer_mps/viewer_mps.py

@@ -18,6 +18,7 @@
 from typing import List
 
 import rerun as rr
+import rerun.blueprint as rrb
 from projectaria_tools.core.mps import MpsDataPathsProvider
 from projectaria_tools.tools.viewer_mps.rerun_viewer_mps import log_mps_to_rerun
 
@@ -166,9 +167,16 @@ def main() -> None:
     # Run the viewer in the web browser or desktop app
     if args.web:
         rr.serve_web()
-    else:
+    elif not args.rrd_output_path:
         rr.spawn()
 
+    # Set the default shown timeline to be the device time
+    blueprint = rrb.Blueprint(
+        rrb.TimePanel(timeline="device_time"),
+        rrb.SelectionPanel(state="collapsed"),
+    )
+    rr.send_blueprint(blueprint)
+
     log_mps_to_rerun(
         vrs_path=args.vrs,
         trajectory_files=args.trajectory,

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

@@ -164,8 +164,8 @@ def main():
             "pillow",
             "plotly",
             "requests",
-            "rerun-notebook==0.26.2",
-            "rerun-sdk==0.26.2",
+            "rerun-notebook==0.33.0",
+            "rerun-sdk==0.33.0",
             "scipy",
             "tqdm",
         ],