try to fix subject renderring

visualization/logger.py

@@ -1,8 +1,17 @@
 import rerun as rr
 import numpy as np
-from typing import Dict, Any, List, Optional
+from typing import Dict, Any, List
 from utils.geometry import vector3_to_numpy, euler_to_quaternion
-from visualization.mesh import create_subject_mesh
+
+
+def create_subject_box(subject: Dict) -> Dict[str, np.ndarray]:
+    position = vector3_to_numpy(subject['position'])
+    size = vector3_to_numpy(subject['size'])
+
+    return {
+        'center': position,
+        'half_size': size / 2  # Boxes3D uses half-sizes
+    }
 
 
 class SimulationLogger:
@@ -31,26 +40,35 @@ class SimulationLogger:
         if not subjects:
             return
 
-        for idx, subject in enumerate(subjects):
-            try:
-                vertices, faces = create_subject_mesh(subject)
-                subject_color = [0.8, 0.2, 0.2, 1.0]
-
-                rr.log(
-                    f"world/subject_{idx}",
-                    rr.Mesh3D(
-                        vertex_positions=vertices,
-                        indices=faces,
-                        colors=np.tile(subject_color, (len(vertices), 1))
-                    ),
-                    timeless=True
-                )
+        # Prepare batch data for all subjects
+        centers = []
+        half_sizes = []
+        colors = []
+        labels = []
 
-                rr.log(f"world/subject_{idx}/class",
-                       rr.TextDocument(subject.get('objectClass', 'Unknown')),
-                       timeless=True)
+        for subject in subjects:
+            try:
+                box_params = create_subject_box(subject)
+                centers.append(box_params['center'])
+                half_sizes.append(box_params['half_size'])
+                colors.append([0.8, 0.2, 0.2, 1.0])  # Red color with alpha
+                labels.append(subject.get('objectClass', 'Unknown'))
             except Exception as e:
-                print(f"Error creating mesh for subject {idx}: {str(e)}")
+                print(f"Error creating box parameters: {str(e)}")
+                continue
+
+        if centers:  # Only log if we have valid subjects
+            rr.log(
+                "world/subjects",
+                rr.Boxes3D(
+                    centers=np.array(centers),
+                    half_sizes=np.array(half_sizes),
+                    colors=np.array(colors),
+                    labels=labels,
+                    fill_mode="solid"  # Use solid fill for better visualization
+                ),
+                timeless=True
+            )
 
     def log_camera_trajectory(self, camera_frames: List[Dict[str, Any]]) -> None:
         if not camera_frames:
@@ -94,8 +112,7 @@ class SimulationLogger:
                 rr.log(
                     "world/camera/view",
                     rr.Pinhole(
-                        focal_length=camera_frame.get(
-                            'focalLength', 50),  # Added default
+                        focal_length=camera_frame.get('focalLength', 50),
                         width=1920,
                         height=1080
                     )

visualization/mesh.py

@@ -1,26 +0,0 @@
-import numpy as np
-from typing import Dict, Tuple
-from utils.geometry import vector3_to_numpy
-
-
-def create_subject_mesh(subject: Dict) -> Tuple[np.ndarray, np.ndarray]:
-    position = vector3_to_numpy(subject['position'])
-    size = vector3_to_numpy(subject['size'])
-
-    # Create cube vertices
-    vertices = np.array([
-        [-0.5, -0.5, -0.5], [0.5, -0.5, -0.5], [0.5, 0.5, -0.5], [-0.5, 0.5, -0.5],
-        [-0.5, -0.5, 0.5], [0.5, -0.5, 0.5], [0.5, 0.5, 0.5], [-0.5, 0.5, 0.5]
-    ]) * size.reshape(1, 3) + position.reshape(1, 3)
-
-    # Create cube faces (updated to use vertex_indices instead of indices)
-    faces = np.array([
-        [0, 1, 2], [0, 2, 3],  # front
-        [1, 5, 6], [1, 6, 2],  # right
-        [5, 4, 7], [5, 7, 6],  # back
-        [4, 0, 3], [4, 3, 7],  # left
-        [3, 2, 6], [3, 6, 7],  # top
-        [4, 5, 1], [4, 1, 0]   # bottom
-    ])
-
-    return vertices, faces