update rerun tutorial

airo-ugent · Feb 12, 2024 · 13562c3 · 13562c3
1 parent e371e0f
commit 13562c3
Showing 1 changed file with 40 additions and 33 deletions.
diff --git a/...oolkit/notebooks/rerun_zed_tutorial.ipynb → ...ra-toolkit/notebooks/rerun_tutorial.ipynb b/...oolkit/notebooks/rerun_zed_tutorial.ipynb → ...ra-toolkit/notebooks/rerun_tutorial.ipynb
@@ -6,7 +6,7 @@
    "metadata": {},
    "source": [
     "# Rerun RGBD camera example\n",
-    "This example shows how to use [rerun](https://www.rerun.io/) for logging images, image annotations, point clouds, transforms between elements in the world, time-series in a way that you might want to do for a robotic manipulation setup. Make sure you have a **ZED2I camera connected**.\n",
+    "This example shows how to use [rerun](https://www.rerun.io/) for logging images, image annotations, point clouds, transforms between elements in the world, time-series in a way that you might want to do for a robotic manipulation setup. Make sure you have a **Realsense or ZED2I camera connected**.\n",
     "\n",
     "\n",
     "Rerun has more features such as logging meshes, logging 3D bboxes, URDFs (in process). Check the docs to learn more. \n",
@@ -26,7 +26,6 @@
    },
    "outputs": [],
    "source": [
-    "from airo_camera_toolkit.cameras.zed.zed2i import Zed2i\n",
     "import rerun as rr\n",
     "#autoreload\n",
     "%load_ext autoreload\n",
@@ -41,7 +40,19 @@
    "source": [
     "# start rerun. If the UI is already running, it will connect to it. Otherwise it will start a new UI and connect to it.\n",
     "# you can also start rerun using `python -m rerun`.\n",
-    "rr.init(\"test\",spawn=True)"
+    "rr.init(\"test\", spawn=True)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "from airo_camera_toolkit.cameras.realsense.realsense import Realsense\n",
+    "\n",
+    "realsense = Realsense()\n",
+    "camera = realsense"
    ]
   },
   {
@@ -50,7 +61,10 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "zed = Zed2i(depth_mode=Zed2i.NEURAL_DEPTH_MODE, resolution=Zed2i.RESOLUTION_2K)"
+    "from airo_camera_toolkit.cameras.zed.zed2i import Zed2i\n",
+    "\n",
+    "zed = Zed2i(depth_mode=Zed2i.NEURAL_DEPTH_MODE, resolution=Zed2i.RESOLUTION_2K)\n",
+    "camera = zed"
    ]
   },
   {
@@ -59,9 +73,9 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "point_cloud = zed.get_colored_point_cloud()\n",
-    "rgb = zed.get_rgb_image()\n",
-    "depth = zed.get_depth_image()"
+    "point_cloud = camera.get_colored_point_cloud()\n",
+    "rgb = camera.get_rgb_image()\n",
+    "depth = camera.get_depth_image()"
    ]
   },
   {
@@ -71,7 +85,7 @@
    "outputs": [],
    "source": [
     "# log the colored point_cloud to the UI\n",
-    "rr.log(\"world/camera1/point_cloud\", rr.Points3D(positions=point_cloud.points,colors=point_cloud.colors))\n"
+    "rr.log(\"world/camera1/point_cloud\", rr.Points3D(positions=point_cloud.points, colors=point_cloud.colors))"
    ]
   },
   {
@@ -90,8 +104,8 @@
    "outputs": [],
    "source": [
     "# log the rgb and depth images to the UI in a new image/camera1 space, this will automatically become a 2D image viewer.\n",
-    "rr.log(\"image/camera1/rgb\",rr.Image(rgb))\n",
-    "rr.log(\"image/camera1/depth\",rr.Image(depth))"
+    "rr.log(\"image/camera1/rgb\", rr.Image(rgb))\n",
+    "rr.log(\"image/camera1/depth\", rr.Image(depth))"
    ]
   },
   {
@@ -100,8 +114,8 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "# log a dummy 2D bbox \n",
-    "rr.log(\"image/camera1/rect\", rr.Boxes2D(mins=[20,100], sizes=[300,500]))"
+    "# log a dummy 2D bbox\n",
+    "rr.log(\"image/camera1/rect\", rr.Boxes2D(mins=[20, 100], sizes=[300, 500]))"
    ]
   },
   {
@@ -111,7 +125,10 @@
    "outputs": [],
    "source": [
     "# log some dummy keypoints and attach labels\n",
-    "rr.log(\"image/camera1/keypoints\", rr.Points2D([[600,500],[400,500]],keypoint_ids=[0,1],radii=20, labels=[\"keypoint1\",\"keypoint2\"]))"
+    "rr.log(\n",
+    "    \"image/camera1/keypoints\",\n",
+    "    rr.Points2D([[600, 500], [400, 500]], keypoint_ids=[0, 1], radii=20, labels=[\"keypoint1\", \"keypoint2\"]),\n",
+    ")"
    ]
   },
   {
@@ -120,10 +137,10 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "# log dummy camera extrinsics from the world space. \n",
+    "# log dummy camera extrinsics from the world space.\n",
     "# This specifies the pose of camera in world.\n",
-    "translation = [0,0.5,0.7] \n",
-    "rotation = [-0.707,0,0,0.707] #scalar-last! \n",
+    "translation = [0, 0.5, 0.7]\n",
+    "rotation = [-0.707, 0, 0, 0.707]  # scalar-last!\n",
     "# rr.log_rigid3(\"world/camera1\", parent_from_child=(translation, rotation))\n",
     "rr.log(\"world/camera1\", rr.Transform3D(translation=translation, rotation=rotation))"
    ]
@@ -135,8 +152,8 @@
    "outputs": [],
    "source": [
     "# log the actual camera intrinsics, to create a pinhole camera model in the UI.\n",
-    "rr.log(\"world/camera1/rgb\", rr.Pinhole(image_from_camera=zed.intrinsics_matrix(), resolution=zed.resolution))\n",
-    "rr.log(\"world/camera1/rgb\",rr.Image(rgb))"
+    "rr.log(\"world/camera1/rgb\", rr.Pinhole(image_from_camera=camera.intrinsics_matrix(), resolution=camera.resolution))\n",
+    "rr.log(\"world/camera1/rgb\", rr.Image(rgb))"
    ]
   },
   {
@@ -145,7 +162,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "# set up the 'view' of the 3D world space. This is for convenience so that rerun can sensible starting orientations for the spaces. \n",
+    "# set up the 'view' of the 3D world space. This is for convenience so that rerun can sensible starting orientations for the spaces.\n",
     "rr.log(\"world\", rr.ViewCoordinates.RIGHT_HAND_Z_UP, timeless=True)\n",
     "rr.log(\"world/camera1\", rr.ViewCoordinates.RDF, timeless=True)"
    ]
@@ -158,8 +175,8 @@
    "source": [
     "# log some more data\n",
     "for _ in range(5):\n",
-    "    point_cloud = zed.get_colored_point_cloud()\n",
-    "    rr.log(\"world/camera1/point_cloud\", rr.Points3D(positions=point_cloud.points,colors=point_cloud.colors))"
+    "    point_cloud = camera.get_colored_point_cloud()\n",
+    "    rr.log(\"world/camera1/point_cloud\", rr.Points3D(positions=point_cloud.points, colors=point_cloud.colors))"
    ]
   },
   {
@@ -170,17 +187,7 @@
    "source": [
     "# log time-series (e.g. F/T sensor)\n",
     "for i in range(100):\n",
-    "    rr.log(\"world/robot/force\",rr.TimeSeriesScalar(i))\n"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "# close the camera\n",
-    "zed.camera.close()"
+    "    rr.log(\"world/robot/force\", rr.TimeSeriesScalar(i))"
    ]
   },
   {
@@ -210,7 +217,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.10.13"
+   "version": "3.9.18"
   },
   "vscode": {
    "interpreter": {