feat(observatory): share native result replay and expose saved TGS layers
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DCCONSTRUCTIONS
@@ -45,12 +45,11 @@ class RecordedBlueprintError(RuntimeError):
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class _RecordedBlueprintStream:
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"""Keep one browser viewport on one mutable Rerun blueprint store.
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"""Keep one bounded SDK blueprint source for each browser viewport.
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Rerun persists the operator-controlled eye inside the active blueprint
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store. Creating and activating a fresh store for every layer toggle drops
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that eye and snaps the view back to its fallback camera. This stream keeps
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the store identity stable until the operator explicitly requests a reset.
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Upstream 0.36.3 activates a clone, not this source store. Explicit refresh
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makes layer changes visible but cannot retain the clone's operator eye.
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It is opt-in for portable replay pending native camera-state support.
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"""
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def __init__(
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@@ -82,18 +81,24 @@ class _RecordedBlueprintStream:
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def render(
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self,
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blueprint_factory: Callable[[bool], rrb.Blueprint],
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blueprint_factory: Callable[[bool, bool], rrb.Blueprint],
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*,
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follow_trajectory: bool,
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plan_view: bool,
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reactivate_updates: bool = False,
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) -> bytes:
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with self._lock:
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if self._closed:
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raise RecordedBlueprintError("stable blueprint stream is closed")
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eye_contract = (follow_trajectory, plan_view)
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update_eye_controls = self._eye_contract != eye_contract
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blueprint = blueprint_factory(update_eye_controls)
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make_active = self._sequence == 0
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# Initial admission/reset uses native framing. Explicit presets
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# apply to mode transitions, after the viewer has a source cursor.
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blueprint = blueprint_factory(update_eye_controls, self._eye_contract is not None)
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# Appending rows alone does not refresh upstream's active clone.
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# Keep legacy admission unchanged; portable replay opts into
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# working layer updates with an explicitly documented eye reset.
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make_active = self._sequence == 0 or reactivate_updates
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self._blueprint_recording.set_time(
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"blueprint",
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sequence=self._sequence,
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@@ -124,9 +129,9 @@ class _RecordedBlueprintStream:
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_MAX_RECORDED_BLUEPRINT_STREAMS = 32
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_recorded_blueprint_streams_lock = Lock()
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_recorded_blueprint_streams: OrderedDict[
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tuple[str, str, str], _RecordedBlueprintStream
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] = OrderedDict()
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_recorded_blueprint_streams: OrderedDict[tuple[str, str, str], _RecordedBlueprintStream] = (
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OrderedDict()
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)
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def _stable_recorded_blueprint_stream(
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@@ -170,8 +175,10 @@ def recorded_blueprint(
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show_detections_2d: bool = False,
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show_segmentation: bool = False,
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show_cuboids_3d: bool = False,
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show_costmap: bool = False,
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follow_trajectory: bool = False,
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update_eye_controls: bool = True,
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explicit_spatial_preset: bool = False,
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) -> rrb.Blueprint:
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accumulation = max(0.0, settings.accumulation_seconds)
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time_ranges: list[rr.VisibleTimeRange] | None = None
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@@ -220,6 +227,9 @@ def recorded_blueprint(
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if plan_view and update_eye_controls
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else rrb.EyeControls3D.from_fields(
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kind=rrb.Eye3DKind.Orbital if follow_trajectory else None,
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position=[16.0, -16.0, 18.0] if explicit_spatial_preset else None,
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look_target=[0.0, 0.0, 0.0] if explicit_spatial_preset else None,
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eye_up=[0.0, 0.0, 1.0] if explicit_spatial_preset else None,
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tracking_entity="/world/sensor_pose" if follow_trajectory else "",
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)
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if update_eye_controls
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@@ -239,6 +249,7 @@ def recorded_blueprint(
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# inherits the view's latest-at query and can never turn into an
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# object-history trail when the operator widens the cloud window.
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"/world/points": point_overrides,
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"/world/costmap": rrb.EntityBehavior(visible=show_costmap),
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"/world/trajectory": trajectory_overrides,
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"/world/perception": rrb.EntityBehavior(visible=show_cuboids_3d),
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"/world/perception/lidar": rrb.EntityBehavior(visible=False),
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@@ -251,16 +262,13 @@ 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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# 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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# Follow and plan configure the native eye, not the point coordinates.
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# An empty tracking path clears tracking. Retaining this source view id
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# alone does not preserve edits in upstream's activated blueprint clone.
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eye_controls=spatial_eye_controls,
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)
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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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RECORDED_SPATIAL_RESET_VIEW_ID if view_reset_generation 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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@@ -309,6 +317,7 @@ def recorded_blueprint(
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visible=settings.show_trajectory,
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),
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"/world/perception": rrb.EntityBehavior(visible=True),
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"/world/costmap": rrb.EntityBehavior(visible=show_costmap),
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# The overlay already carries the selected fusion support points;
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# its grey diagnostic LiDAR copy would otherwise double-render the
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# native cloud from /world/points.
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@@ -420,11 +429,15 @@ def recorded_blueprint_rrd(
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show_detections_2d: bool = False,
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show_segmentation: bool = False,
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show_cuboids_3d: bool = False,
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show_costmap: bool = False,
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follow_trajectory: bool = False,
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reactivate_updates: bool = False,
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) -> bytes:
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"""Serialize a bounded active blueprint update without recorded data."""
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def build_blueprint(update_eye_controls: bool) -> rrb.Blueprint:
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def build_blueprint(
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update_eye_controls: bool, use_spatial_preset: bool = False
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) -> rrb.Blueprint:
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return recorded_blueprint(
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settings,
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include_initial_playback_state=False,
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@@ -436,8 +449,10 @@ def recorded_blueprint_rrd(
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show_detections_2d=show_detections_2d,
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show_segmentation=show_segmentation,
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show_cuboids_3d=show_cuboids_3d,
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show_costmap=show_costmap,
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follow_trajectory=follow_trajectory,
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update_eye_controls=update_eye_controls,
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explicit_spatial_preset=reactivate_updates and use_spatial_preset,
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)
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payload: bytes | None
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@@ -452,6 +467,7 @@ def recorded_blueprint_rrd(
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build_blueprint,
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follow_trajectory=follow_trajectory,
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plan_view=plan_view,
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reactivate_updates=reactivate_updates,
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)
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except RecordedBlueprintError:
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raise
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@@ -130,6 +130,8 @@ class RecordedBlueprintRequest(StrictApiModel):
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show_detections_2d: StrictBool = False
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show_segmentation: StrictBool = False
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show_cuboids_3d: StrictBool = False
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show_costmap: StrictBool = False
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reactivate_updates: StrictBool = False
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follow_trajectory: StrictBool = False
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@@ -980,6 +982,8 @@ def build_session_router(
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show_detections_2d=request.show_detections_2d,
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show_segmentation=request.show_segmentation,
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show_cuboids_3d=request.show_cuboids_3d,
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show_costmap=request.show_costmap,
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reactivate_updates=request.reactivate_updates,
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follow_trajectory=request.follow_trajectory,
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)
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except SessionNotFoundError as exc:
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