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fix: resolve camera resolution warning #192

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Merged
ktro2828 merged 1 commit into from
Sep 30, 2025
Merged

fix: resolve camera resolution warning #192

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9 changes: 8 additions & 1 deletion t4_devkit/helper/rendering.py
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Original file line number Diff line number Diff line change
Expand Up @@ -352,7 +352,14 @@ def _render_sensor_calibration(self, viewer: RerunViewer, sample_data_token: str
"calibrated_sensor", sample_data.calibrated_sensor_token
)
sensor: Sensor = self._t4.get("sensor", calibration.sensor_token)
viewer.render_calibration(sensor=sensor, calibration=calibration)
if sensor.modality == SensorModality.CAMERA:
viewer.render_calibration(
sensor=sensor,
calibration=calibration,
resolution=(sample_data.width, sample_data.height),
)
else:
viewer.render_calibration(sensor=sensor, calibration=calibration)

def _render_lidar_and_ego(
self,
Expand Down
23 changes: 18 additions & 5 deletions t4_devkit/viewer/viewer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,14 @@
if TYPE_CHECKING:
from t4_devkit.dataclass import Box2D, Box3D, Future, PointCloudLike
from t4_devkit.schema import CalibratedSensor, EgoPose, Sensor
from t4_devkit.typing import CamIntrinsicLike, NDArrayU8, RoiLike, RotationLike, Vector3Like
from t4_devkit.typing import (
CamIntrinsicLike,
NDArrayU8,
RoiLike,
RotationLike,
Vector2Like,
Vector3Like,
)

__all__ = ["RerunViewer", "format_entity"]

Expand Down Expand Up @@ -563,12 +570,14 @@ def render_calibration(
self,
sensor: Sensor,
calibration: CalibratedSensor,
resolution: Vector2Like | None = None,
) -> None:
"""Render a sensor calibration.

Args:
sensor (Sensor): `Sensor` object.
calibration (CalibratedSensor): `CalibratedSensor` object.
resolution (Vector2Like | None, optional): Camera resolution (width, height).
"""
pass

Expand All @@ -580,6 +589,7 @@ def render_calibration(
translation: Vector3Like,
rotation: RotationLike,
camera_intrinsic: CamIntrinsicLike | None = None,
resolution: Vector2Like | None = None,
) -> None:
"""Render a sensor calibration.

Expand All @@ -589,13 +599,13 @@ def render_calibration(
translation (Vector3Like): Sensor translation in ego centric coords.
rotation (RotationLike): Sensor rotation in ego centric coords.
camera_intrinsic (CamIntrinsicLike | None, optional): Camera intrinsic matrix.
Defaults to None.
resolution (Vector2Like | None, optional): Camera resolution (width, height).
"""
pass

def render_calibration(self, *args, **kwargs) -> None:
"""Render a sensor calibration."""
if len(args) + len(kwargs) == 2:
if len(args) + len(kwargs) <= 3:
Comment thread
ktro2828 marked this conversation as resolved.
self._render_calibration_with_schema(*args, **kwargs)
else:
self._render_calibration_without_schema(*args, **kwargs)
Expand All @@ -604,13 +614,15 @@ def _render_calibration_with_schema(
self,
sensor: Sensor,
calibration: CalibratedSensor,
resolution: Vector2Like | None = None,
) -> None:
self._render_calibration_without_schema(
channel=sensor.channel,
modality=sensor.modality,
translation=calibration.translation,
rotation=calibration.rotation,
camera_intrinsic=calibration.camera_intrinsic,
resolution=resolution,
)

def _render_calibration_without_schema(
Expand All @@ -620,6 +632,7 @@ def _render_calibration_without_schema(
translation: Vector3Like,
rotation: RotationLike,
camera_intrinsic: CamIntrinsicLike | None = None,
resolution: Vector2Like | None = None,
) -> None:
"""Render a sensor calibration.

Expand All @@ -629,7 +642,7 @@ def _render_calibration_without_schema(
translation (Vector3Like): Sensor translation in ego centric coords.
rotation (RotationLike): Sensor rotation in ego centric coords.
camera_intrinsic (CamIntrinsicLike | None, optional): Camera intrinsic matrix.
Defaults to None.
resolution (Vector2Like | None, optional): Camera resolution (width, height).
"""
rr.log(
format_entity(self.ego_entity, channel),
Expand All @@ -640,7 +653,7 @@ def _render_calibration_without_schema(
if modality == SensorModality.CAMERA:
rr.log(
format_entity(self.ego_entity, channel),
rr.Pinhole(image_from_camera=camera_intrinsic),
rr.Pinhole(image_from_camera=camera_intrinsic, resolution=resolution),
static=True,
)

Expand Down
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