Feature/viser (#73)

* (wip) start working on viser-based visualizer

* draw basic structure

* use array view of graph for visualization

* add gui and update

* add colors

* working default colormaps

* start on config hooks

* fix updating on config changes

* factor out graph from viser renderer and add context manager

* add conditional text

* clear labels from scene

* Feature/viser aaron (#75)

* Fix viser with empty layer?

* fix

* another fix

* make viser optional because of number of deps

* add initial bounding box attempt

* add docstrings and clean up layer draw

* fix gui settings

* fix interlayer and add agents default

---------

Co-authored-by: Aaron Ray <aaronray@mit.edu>

Author: 2 people

pyproject.toml

@@ -10,6 +10,7 @@ readme = "README.md"
 license = "BSD-3-Clause"
 requires-python = ">=3.8"
 dependencies = [
+    "click",
     "numpy",
     "seaborn",
     "shapely",
@@ -28,11 +29,7 @@ classifiers = [
 ]
 
 [project.optional-dependencies]
-viz = [
-    "plotly",
-    "open3d >= 0.17",
-    "scipy",
-]
+viz = ["trimesh", "viser"]
 
 [project.urls]
 Repository = "https://github.com/MIT-SPARK/Spark-DSG"

python/bindings/src/color.cpp

@@ -34,22 +34,29 @@
  * -------------------------------------------------------------------------- */
 #include "spark_dsg/python/color.h"
 
+#include <pybind11/eigen.h>
 #include <spark_dsg/color.h>
+#include <spark_dsg/colormaps.h>
+
+#include <Eigen/Dense>
 
 namespace spark_dsg::python {
 
 namespace py = pybind11;
-
-using namespace spark_dsg;
+using namespace py::literals;
 
 void init_color(py::module_& m) {
-  // TODO(nathan) colormaps
-
   py::class_<Color>(m, "Color")
+      .def(py::init())
       .def_readwrite("r", &Color::r)
       .def_readwrite("g", &Color::g)
       .def_readwrite("b", &Color::b)
-      .def_readwrite("a", &Color::a);
+      .def_readwrite("a", &Color::a)
+      .def("to_float_array", [](const Color& c) { return Eigen::Vector3f(c.r / 255.0, c.g / 255.0, c.b / 255.0); });
+
+  m.def("colorbrewer_color", &colormaps::colorbrewerId);
+  m.def("distinct_150_color", &colormaps::distinct150Id);
+  m.def("rainbow_color", &colormaps::rainbowId, "id"_a, "ids_per_revolution"_a = 16);
 }
 
 }  // namespace spark_dsg::python

python/bindings/src/scene_graph_layer.cpp

@@ -109,6 +109,8 @@ void init_scene_graph_layer(py::module_& m) {
       .def("num_nodes", &LayerView::numNodes)
       .def("num_edges", &LayerView::numEdges)
       .def("get_position", &LayerView::getPosition)
+      .def_property(
+          "key", [](const LayerView& view) { return view.id; }, nullptr)
       .def_property(
           "id", [](const LayerView& view) { return view.id.layer; }, nullptr)
       .def_property(

python/spark_dsg/__init__.py

@@ -50,9 +50,7 @@
     SceneGraphLayer,
     compute_ancestor_bounding_box,
 )
-from spark_dsg.open3d_visualization import render_to_open3d
 from spark_dsg.torch_conversion import scene_graph_layer_to_torch, scene_graph_to_torch
-from spark_dsg.visualization import plot_scene_graph
 
 
 def add_bounding_boxes_to_layer(
@@ -104,7 +102,7 @@ def _hash_layerkey(key):
 
 def _get_layer_id(graph, name):
     warnings.warn(
-        "'get_layer_key' is deprecated. Please use 'get_layer_key'",
+        "'get_layer_id' is deprecated. Please use 'get_layer_key'",
         DeprecationWarning,
         stacklevel=2,
     )

python/spark_dsg/commands/visualize.py

@@ -1,14 +1,21 @@
 """Entry point for visualizing scene graph."""
 
+import time
+
 import click
 import spark_dsg as dsg
-from spark_dsg.open3d_visualization import render_to_open3d
+from spark_dsg.viser import ViserRenderer
 
 
 @click.command("visualize")
 @click.argument("filepath", type=click.Path(exists=True))
-def cli(filepath):
+@click.option("--ip", default="localhost")
+@click.option("--port", default="8080")
+def cli(filepath, ip, port):
     """Visualize a scene graph from FILEPATH using Open3D."""
     G = dsg.DynamicSceneGraph.load(filepath)
-    render_to_open3d(G)
-    print("Done.")
+
+    with ViserRenderer(ip, port=port) as renderer:
+        renderer.draw(G)
+        while True:
+            time.sleep(10.0)