Preserve recorded camera orbit when toggling follow
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DCCONSTRUCTIONS
parent
ecd95a22f0
commit
90450ae320
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@ -19,8 +19,6 @@ SESSION_TIMELINE = "session_time"
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RECORDED_SPATIAL_VIEW_ID = UUID("5f5f11d5-3b0a-4a81-887b-2be767cba1c0")
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RECORDED_SPATIAL_RESET_VIEW_ID = UUID("1480abcc-a0ae-4287-ab69-4b606d15d947")
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RECORDED_SPATIAL_FOLLOW_VIEW_ID = UUID("e96acd7f-1bb8-49e2-bff8-a661e5c6ceab")
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RECORDED_SPATIAL_FOLLOW_RESET_VIEW_ID = UUID("f409403d-84ac-4309-82aa-501fc69905f5")
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RECORDED_ROOT_CONTAINER_ID = UUID("b02f2aca-8471-4dcb-b786-53df5a320fc8")
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RECORDED_SPATIAL_RESET_ROOT_CONTAINER_ID = UUID("27d95ad7-1e72-46ca-b854-d02cd99b7610")
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RECORDED_PERCEPTION_ROOT_CONTAINER_ID = UUID("70ea9fd5-bbbb-4b23-8ae8-8098af92b997")
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@ -35,8 +33,6 @@ RECORDED_CAMERA_VIEW_ID = UUID("5c1db75b-07cd-479a-903d-f4f2ed554513")
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RECORDED_CAMERA_RESET_VIEW_ID = UUID("d0618e0c-c889-4222-a643-60a4a882935c")
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RECORDED_PERCEPTION_3D_VIEW_ID = UUID("0496bd2e-2b4d-4a4f-87b8-3ce4f9f7e114")
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RECORDED_PERCEPTION_3D_RESET_VIEW_ID = UUID("31f63ab8-ffdd-4751-ae40-e8e7b4462c8f")
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RECORDED_PERCEPTION_3D_FOLLOW_VIEW_ID = UUID("6bb43236-9507-4e8f-bc54-3a73b31c07b5")
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RECORDED_PERCEPTION_3D_FOLLOW_RESET_VIEW_ID = UUID("0e01e3c6-8b7b-47aa-b22b-e413301599eb")
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RECORDED_METRICS_VIEW_ID = UUID("f973fc11-0867-4732-ad3c-97008621fab7")
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RECORDED_UNIFIED_ROOT_CONTAINER_ID = UUID("e9934ef8-453f-432e-9136-2b0908190253")
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RECORDED_UNIFIED_RESET_ROOT_CONTAINER_ID = UUID("2781407d-9f4e-4405-86e8-bbe6065e83df")
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@ -218,21 +214,20 @@ def recorded_blueprint(
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# Log an explicit empty range set so a previous accumulated blueprint
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# for this stable view id is cleared instead of surviving in Rerun.
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time_ranges=rrb.VisibleTimeRanges([]),
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eye_controls=(
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rrb.EyeControls3D(
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kind=rrb.Eye3DKind.Orbital,
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tracking_entity="/world/sensor_pose",
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)
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if follow_trajectory
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else None
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# Follow is a property of the same operator eye, not another view.
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# Keeping the view id stable preserves the current orbit offset when
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# tracking is toggled. An explicit empty path clears tracking without
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# overwriting the position/look-target saved by user interaction.
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eye_controls=rrb.EyeControls3D.from_fields(
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kind=rrb.Eye3DKind.Orbital if follow_trajectory else None,
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tracking_entity="/world/sensor_pose" if follow_trajectory else "",
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),
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)
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spatial_view.id = {
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(False, 0): RECORDED_SPATIAL_VIEW_ID,
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(False, 1): RECORDED_SPATIAL_RESET_VIEW_ID,
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(True, 0): RECORDED_SPATIAL_FOLLOW_VIEW_ID,
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(True, 1): RECORDED_SPATIAL_FOLLOW_RESET_VIEW_ID,
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}[(follow_trajectory, view_reset_generation)]
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spatial_view.id = (
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RECORDED_SPATIAL_RESET_VIEW_ID
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if view_reset_generation
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else RECORDED_SPATIAL_VIEW_ID
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)
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camera_view = rrb.Spatial2DView(
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origin="/perception/camera",
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name="Оригинальное видео · слои AI",
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@ -279,21 +274,16 @@ def recorded_blueprint(
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# native cloud from /world/points.
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"/world/perception/lidar": rrb.EntityBehavior(visible=False),
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},
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eye_controls=(
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rrb.EyeControls3D(
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kind=rrb.Eye3DKind.Orbital,
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tracking_entity="/world/sensor_pose",
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)
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if follow_trajectory
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else None
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eye_controls=rrb.EyeControls3D.from_fields(
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kind=rrb.Eye3DKind.Orbital if follow_trajectory else None,
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tracking_entity="/world/sensor_pose" if follow_trajectory else "",
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),
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)
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perception_3d_view.id = {
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(False, 0): RECORDED_PERCEPTION_3D_VIEW_ID,
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(False, 1): RECORDED_PERCEPTION_3D_RESET_VIEW_ID,
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(True, 0): RECORDED_PERCEPTION_3D_FOLLOW_VIEW_ID,
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(True, 1): RECORDED_PERCEPTION_3D_FOLLOW_RESET_VIEW_ID,
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}[(follow_trajectory, view_reset_generation)]
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perception_3d_view.id = (
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RECORDED_PERCEPTION_3D_RESET_VIEW_ID
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if view_reset_generation
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else RECORDED_PERCEPTION_3D_VIEW_ID
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)
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metrics_view = rrb.TimeSeriesView(
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origin="/metrics/device",
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name="Маршрут и время",
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@ -37,9 +37,6 @@ from k1link.device_plugins.xgrids_k1.rrd_export import (
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export_k1mqtt_to_rrd,
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recorded_blueprint_rrd,
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)
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from k1link.viewer.recorded import (
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RECORDED_SPATIAL_FOLLOW_VIEW_ID,
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)
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from k1link.viewer.recorded import (
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recorded_blueprint as viewer_recorded_blueprint,
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)
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@ -453,7 +450,7 @@ def test_viewer_blueprint_reset_is_bounded_and_recreates_render_views() -> None:
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assert perception_behavior.visible.as_arrow_array().to_pylist() == [False]
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def test_recorded_follow_mode_tracks_sensor_pose_with_an_independent_orbital_eye() -> None:
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def test_recorded_follow_mode_tracks_sensor_pose_with_the_same_orbital_eye() -> None:
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normal = viewer_recorded_blueprint(
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RerunSceneSettings(),
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include_initial_playback_state=False,
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@ -471,16 +468,23 @@ def test_recorded_follow_mode_tracks_sensor_pose_with_an_independent_orbital_eye
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normal_view = normal.root_container.contents[0]
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followed_view = followed.root_container.contents[0]
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normal_eye = normal_view.properties["EyeControls3D"]
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followed_eye = followed_view.properties["EyeControls3D"]
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normal_components = {
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str(batch.component_descriptor()): batch.as_arrow_array().to_pylist()
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for batch in normal_eye.as_component_batches()
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}
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followed_components = {
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str(batch.component_descriptor()): batch.as_arrow_array().to_pylist()
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for batch in followed_eye.as_component_batches()
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}
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assert "EyeControls3D" not in normal_view.properties
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assert followed_view.id == RECORDED_SPATIAL_FOLLOW_VIEW_ID
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assert followed_again.root_container.contents[0].id == RECORDED_SPATIAL_FOLLOW_VIEW_ID
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assert followed_view.id != normal_view.id
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assert followed_view.id == RECORDED_SPATIAL_VIEW_ID
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assert followed_again.root_container.contents[0].id == RECORDED_SPATIAL_VIEW_ID
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assert followed_view.id == normal_view.id
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assert normal_components == {
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"EyeControls3D:tracking_entity": [""],
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}
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assert followed_components == {
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"EyeControls3D:kind": [2],
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"EyeControls3D:tracking_entity": ["/world/sensor_pose"],
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