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feat: add support of rendering geocoordinate #49

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Nov 21, 2024
Merged

feat: add support of rendering geocoordinate #49

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6 changes: 3 additions & 3 deletions t4_devkit/schema/tables/ego_pose.py
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Original file line number Diff line number Diff line change
Expand Up @@ -45,12 +45,12 @@ class EgoPose(SchemaBase):
translation: TranslationType = field(converter=np.asarray)
rotation: RotationType = field(converter=as_quaternion)
timestamp: int
twist: TwistType = field(
twist: TwistType | None = field(
default=None, converter=lambda x: np.asarray(x) if x is not None else x
)
acceleration: AccelerationType = field(
acceleration: AccelerationType | None = field(
default=None, converter=lambda x: np.asarray(x) if x is not None else x
)
geocoordinate: GeoCoordinateType = field(
geocoordinate: GeoCoordinateType | None = field(
default=None, converter=lambda x: np.asarray(x) if x is not None else x
)
43 changes: 37 additions & 6 deletions t4_devkit/viewer/viewer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,13 @@

from t4_devkit.common.timestamp import us2sec
from t4_devkit.schema import CalibratedSensor, EgoPose, Sensor, SensorModality
from t4_devkit.typing import CamIntrinsicType, NDArrayU8, RotationType, TranslationType
from t4_devkit.typing import (
CamIntrinsicType,
GeoCoordinateType,
NDArrayU8,
RotationType,
TranslationType,
)

from .color import distance_color
from .rendering_data import BoxData2D, BoxData3D, SegmentationData2D
Expand Down Expand Up @@ -59,6 +65,7 @@ class Tier4Viewer:
# entity paths
map_entity = "map"
ego_entity = "map/base_link"
geocoordinate_entity = "geocoordinate"
timeline = "timestamp"

def __init__(
Expand Down Expand Up @@ -95,11 +102,14 @@ def __init__(

view_container = []
if not without_3d:
view_container.append(
rrb.Horizontal(
rrb.Spatial3DView(name="3D", origin=self.map_entity),
column_shares=[3, 1],
)
view_container.extend(
[
rrb.Horizontal(
rrb.Spatial3DView(name="3D", origin=self.map_entity),
rrb.Horizontal(rrb.MapView(name="Map", origin=self.geocoordinate_entity)),
column_shares=[3, 1],
),
]
)

if self.cameras is not None:
Expand Down Expand Up @@ -308,12 +318,20 @@ def _render_ego_with_schema(self, ego_pose: EgoPose) -> None:
),
)

if ego_pose.geocoordinate is not None:
latitude, longitude, _ = ego_pose.geocoordinate
rr.log(
self.geocoordinate_entity,
rr.GeoPoints(lat_lon=(latitude, longitude), radii=rr.Radius.ui_points(10.0)),
)

@render_ego.register
def _render_ego_without_schema(
self,
seconds: float,
translation: TranslationType,
rotation: RotationType,
geocoordinate: GeoCoordinateType | None = None,
) -> None:
rr.set_time_seconds(self.timeline, seconds)

Expand All @@ -327,6 +345,13 @@ def _render_ego_without_schema(
),
)

if geocoordinate is not None:
latitude, longitude, _ = geocoordinate
rr.log(
self.geocoordinate_entity,
rr.GeoPoints(lat_lon=(latitude, longitude)),
)

@singledispatchmethod
def render_calibration(self, *args, **kwargs) -> None:
raise TypeError("Unexpected parameter types.")
Expand Down Expand Up @@ -394,3 +419,9 @@ def _render_calibration_without_schema(
rr.Pinhole(image_from_camera=camera_intrinsic),
static=True,
)
if modality == SensorModality.CAMERA:
rr.log(
format_entity(self.ego_entity, channel),
rr.Pinhole(image_from_camera=camera_intrinsic),
static=True,
)
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