Add viser to CLI and refactorings.

DanielDauner · DanielDauner · commit 7695b272a178 · 2025-11-06T10:00:15.000+01:00
diff --git a/examples/01_viser.py b/examples/01_viser.py
diff --git a/src/py123d/script/builders/viser_config_builder.py b/src/py123d/script/builders/viser_config_builder.py
@@ -0,0 +1,22 @@
+import logging
+
+from hydra.utils import instantiate
+from omegaconf import DictConfig
+
+from py123d.script.builders.utils.utils_type import validate_type
+from py123d.visualization.viser.viser_config import ViserConfig
+
+logger = logging.getLogger(__name__)
+
+
+def build_viser_config(cfg: DictConfig) -> ViserConfig:
+    """
+    Builds the config dataclass for the viser viewer.
+    :param cfg: DictConfig. Configuration that is used to run the viewer.
+    :return: Instance of ViserConfig.
+    """
+    logger.info("Building ViserConfig...")
+    viser_config: ViserConfig = instantiate(cfg)
+    validate_type(viser_config, ViserConfig)
+    logger.info("Building ViserConfig...DONE!")
+    return viser_config
diff --git a/src/py123d/script/config/common/default_common.yaml b/src/py123d/script/config/common/default_common.yaml
@@ -3,23 +3,6 @@ defaults:
   - worker: ray_distributed
   - scene_filter: all_scenes
   - scene_builder: default_scene_builder
-  - override hydra/job_logging: colorlog
+  - override hydra/job_logging: disabled
   - override hydra/hydra_logging: colorlog
   - _self_
-
-distributed_timeout_seconds: 7200 # Sets how long to wait while synchronizing across worker nodes in a distributed context.
-selected_simulation_metrics: null
-
-# Sets verbosity level, in particular determines if progress bars are shown or not.
-verbose: false
-
-# Logger
-logger_level: info                                  # Level of logger
-logger_format_string: null                           # Logger format string, set null to use the default format string
-
-# Execution
-max_number_of_workers: null                         # Set null to disable threading for simulation execution
-gpu: true                                           # Whether to use available GPUs during training/simulation
-
-
-seed: 42
diff --git a/src/py123d/script/config/common/default_experiment.yaml b/src/py123d/script/config/common/default_experiment.yaml
@@ -1,8 +1,8 @@
 defaults:
+  - _self_
   - default_dataset_paths
   - override hydra/job_logging: colorlog
   - override hydra/hydra_logging: colorlog
-  - _self_
 
 # Cache parameters
 experiment_name: ???
diff --git a/src/py123d/script/config/common/scene_filter/nuplan_logs.yaml b/src/py123d/script/config/common/scene_filter/nuplan_logs.yaml
@@ -2,19 +2,18 @@ _target_: py123d.datatypes.scene.scene_filter.SceneFilter
 _convert_: 'all'
 
 split_types: null
-split_names: null
+split_names:
+  - "nuplan_train"
+  - "nuplan_val"
+  - "nuplan_test"
 log_names: null
 
 
 locations: null
 scene_uuids: null
 timestamp_threshold_s: null
 ego_displacement_minimum_m: null
-
-duration_s: 9.2
-history_s: 3.0
-
-camera_types: null
-
 max_num_scenes: null
-shuffle: false
+
+duration_s: null
+history_s: null
diff --git a/src/py123d/script/config/common/scene_filter/nuplan_mini_logs.yaml b/src/py123d/script/config/common/scene_filter/nuplan_mini_logs.yaml
@@ -4,14 +4,16 @@ _convert_: 'all'
 split_types: null
 split_names:
   - "nuplan_mini_train"
+  - "nuplan_mini_val"
+  - "nuplan_mini_test"
 log_names: null
 
 
 locations: null
 scene_uuids: null
-timestamp_threshold_s: 1.0
+timestamp_threshold_s: null
 ego_displacement_minimum_m: null
 max_num_scenes: null
 
-duration_s: 8.1
-history_s: 1.0
+duration_s: null
+history_s: null
diff --git a/src/py123d/script/config/common/scene_filter/nuplan_mini_val.yaml b/src/py123d/script/config/common/scene_filter/nuplan_mini_val.yaml
diff --git a/src/py123d/script/config/common/scene_filter/nuplan_sim_agent.yaml b/src/py123d/script/config/common/scene_filter/nuplan_sim_agent.yaml
diff --git a/src/py123d/script/config/common/scene_filter/viser_scenes.yaml b/src/py123d/script/config/common/scene_filter/viser_scenes.yaml
@@ -8,13 +8,13 @@ log_names: null
 
 locations: null
 scene_uuids: null
-timestamp_threshold_s: 10.0
+timestamp_threshold_s: null
 ego_displacement_minimum_m: null
 
-duration_s: 10.0
-history_s: 0.0
+duration_s: null
+history_s: null
 
-camera_types: null
+pinhole_camera_types: null
 
 max_num_scenes: null
 shuffle: True
diff --git a/src/py123d/script/config/conversion/default_conversion.yaml b/src/py123d/script/config/conversion/default_conversion.yaml
@@ -1,7 +1,7 @@
 hydra:
+  output_subdir: null
   run:
     dir: .
-  output_subdir: null
   searchpath:
     - pkg://py123d.script.config
     - pkg://py123d.script.config.common
diff --git a/src/py123d/script/config/viser/default_viser.yaml b/src/py123d/script/config/viser/default_viser.yaml
@@ -1,7 +1,7 @@
 hydra:
+  output_subdir: null
   run:
     dir: .
-  output_subdir: null
   searchpath:
     - pkg://py123d.script.config
     - pkg://py123d.script.config.common
@@ -14,4 +14,61 @@ defaults:
   - override scene_filter: viser_scenes
   - _self_
 
-port_number: 8080
+viser_config:
+  _target_: py123d.visualization.viser.viser_config.ViserConfig
+  _convert_: 'all'
+
+  # Server
+  server_host: "localhost"
+  server_port: 8080
+  server_label: "123D Viser Server"
+  server_verbose: true
+
+  # Theme
+  theme_control_layout: "floating" # ["floating", "collapsible", "fixed"]
+  theme_control_width: "large" # ["small", "medium", "large"]
+  theme_dark_mode: false
+  theme_show_logo: true
+  theme_show_share_button: true
+  # theme_brand_color: # Loads ellis blue by default
+
+  # Play Controls
+  is_playing: false
+  playback_speed: 1.0
+
+  # Map
+  map_visible: true
+  map_radius: 200.0
+  map_non_road_z_offset: 0.1
+  map_requery: true
+
+  # Bounding boxes
+  bounding_box_visible: true
+  bounding_box_type: "mesh" # ["mesh", "lines"]
+  bounding_box_line_width: 4.0
+
+  # Pinhole Cameras
+  # -> Frustum
+  camera_frustum_visible: true
+  # camera_frustum_types: null # Loads all by default
+  camera_frustum_scale: 1.0
+  camera_frustum_image_scale: 0.25
+
+  # -> GUI
+  camera_gui_visible: true
+  camera_gui_types: []
+  camera_gui_image_scale: 0.25
+
+  # Fisheye MEI Cameras
+  # -> Frustum
+  fisheye_frustum_visible: true
+  fisheye_mei_camera_frustum_visible: true
+  # fisheye_mei_camera_frustum_types: [] # Loads all by default
+  fisheye_frustum_scale: 1.0
+  fisheye_frustum_image_scale: 0.25
+
+  # LiDAR
+  lidar_visible: true
+  # lidar_types: [] # Loads all by default
+  lidar_point_size: 0.05
+  lidar_point_shape: "circle" # ["square", "diamond", "circle", "rounded", "sparkle"]
diff --git a/src/py123d/script/run_conversion.py b/src/py123d/script/run_conversion.py
@@ -13,7 +13,7 @@
 from py123d.script.utils.dataset_path_utils import setup_dataset_paths
 
 logging.basicConfig(level=logging.INFO)
-logger = logging.getLogger(__name__)
+logger = logging.getLogger()
 
 CONFIG_PATH = "config/conversion"
 CONFIG_NAME = "default_conversion"
diff --git a/src/py123d/script/run_viser.py b/src/py123d/script/run_viser.py
@@ -5,6 +5,7 @@
 
 from py123d.script.builders.scene_builder_builder import build_scene_builder
 from py123d.script.builders.scene_filter_builder import build_scene_filter
+from py123d.script.builders.viser_config_builder import build_viser_config
 from py123d.script.run_conversion import build_worker
 from py123d.script.utils.dataset_path_utils import setup_dataset_paths
 from py123d.visualization.viser.viser_viewer import ViserViewer
@@ -31,8 +32,11 @@ def main(cfg: DictConfig) -> None:
     # Get scenes from scene builder
     scenes = scene_builder.get_scenes(scene_filter, worker=worker)
 
+    # Build Viser config
+    viser_config = build_viser_config(cfg.viser_config)
+
     # Launch Viser viewer with the scenes
-    ViserViewer(scenes=scenes)
+    ViserViewer(scenes=scenes, viser_config=viser_config)
 
 
 if __name__ == "__main__":
diff --git a/src/py123d/visualization/viser/viser_config.py b/src/py123d/visualization/viser/viser_config.py
diff --git a/src/py123d/visualization/viser/viser_viewer.py b/src/py123d/visualization/viser/viser_viewer.py
