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"""Record3D visualizer
"""
import time
from decord import VideoReader, cpu
import numpy as np
import tyro
import viser
import viser.extras
import viser.transforms as tf
from tqdm.auto import tqdm
def main(
data_path: str,
vid_name: str,
downsample_factor: int = 8,
max_frames: int = 100,
share: bool = False,
point_size=0.01,
) -> None:
server = viser.ViserServer()
if share:
server.request_share_url()
print("Loading frames!")
dis_path = data_path + "/" + vid_name + ".npz"
vid_path = data_path + "/" + vid_name + "_input.mp4"
disp_map = np.load(dis_path)["depth"][:, :, :]
T = disp_map.shape[0]
H = disp_map.shape[1]
W = disp_map.shape[2]
disp_max = disp_map.max()
disp_min = disp_map.min()
disp_map = (disp_map - disp_min) / (disp_max - disp_min)
vr = VideoReader(vid_path, ctx=cpu(0))
vid = vr[:].asnumpy()[:, 0:H, 0:W]
fps = vr.get_avg_fps()
num_frames = min(max_frames, T)
# Add playback UI.
with server.gui.add_folder("Playback"):
gui_timestep = server.gui.add_slider(
"Timestep",
min=0,
max=num_frames - 1,
step=1,
initial_value=0,
disabled=True,
)
gui_next_frame = server.gui.add_button("Next Frame", disabled=True)
gui_prev_frame = server.gui.add_button("Prev Frame", disabled=True)
gui_playing = server.gui.add_checkbox("Playing", True)
gui_framerate = server.gui.add_slider(
"FPS", min=1, max=60, step=0.1, initial_value=fps
)
gui_framerate_options = server.gui.add_button_group(
"FPS options", ("10", "20", "30", "60")
)
# Frame step buttons.
@gui_next_frame.on_click
def _(_) -> None:
gui_timestep.value = (gui_timestep.value + 1) % num_frames
@gui_prev_frame.on_click
def _(_) -> None:
gui_timestep.value = (gui_timestep.value - 1) % num_frames
# Disable frame controls when we're playing.
@gui_playing.on_update
def _(_) -> None:
gui_timestep.disabled = gui_playing.value
gui_next_frame.disabled = gui_playing.value
gui_prev_frame.disabled = gui_playing.value
# Set the framerate when we click one of the options.
@gui_framerate_options.on_click
def _(_) -> None:
gui_framerate.value = int(gui_framerate_options.value)
prev_timestep = gui_timestep.value
# Toggle frame visibility when the timestep slider changes.
@gui_timestep.on_update
def _(_) -> None:
nonlocal prev_timestep
current_timestep = gui_timestep.value
with server.atomic():
frame_nodes[current_timestep].visible = True
frame_nodes[prev_timestep].visible = False
prev_timestep = current_timestep
server.flush() # Optional!
# Load in frames.
server.scene.add_frame(
"/frames",
wxyz=tf.SO3.exp(np.array([0.0, 0.0, 0.0])).wxyz,
position=(0, 0, 0),
show_axes=False,
)
frame_nodes: list[viser.FrameHandle] = []
for i in tqdm(range(num_frames)):
# Add base frame.
frame_nodes.append(server.scene.add_frame(f"/frames/t{i}", show_axes=False))
position_image = np.where(np.zeros([H, W]) == 0)
v = np.array(position_image[0])
u = np.array(position_image[1])
d = disp_map[i, v, u]
zc = 1.0 / (d + 0.1)
# zc = 1.0 / (d + 1e-8)
xc = zc * (u - (W / 2.0)) / (W / 2.0)
yc = zc * (v - (H / 2.0)) / (H / 2.0)
zc -= 4 # disp_max * 0.2
points = np.stack((xc, yc, zc), axis=1)
colors = vid[i, v, u]
points = points[::downsample_factor]
colors = colors[::downsample_factor]
# Place the point cloud in the frame.
server.scene.add_point_cloud(
name=f"/frames/t{i}/point_cloud",
points=points,
colors=colors,
point_size=point_size, # 0.007,
point_shape="rounded",
)
# Hide all but the current frame.
for i, frame_node in enumerate(frame_nodes):
frame_node.visible = i == gui_timestep.value
# Playback update loop.
prev_timestep = gui_timestep.value
while True:
if gui_playing.value:
gui_timestep.value = (gui_timestep.value + 1) % num_frames
time.sleep(1.0 / gui_framerate.value)
if __name__ == "__main__":
tyro.cli(
main(
# dir path of saved rgb.mp4 and disp.npz, modify it to your own dir
data_path="./demo_output",
# sample name, modify it to your own sample name
vid_name="example_01",
# downsample factor of dense pcd
downsample_factor=8,
# point cloud size
point_size=0.007,
)
)
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