| # ZED + Homie + OptiTrack/SMPL Rerun viewer |
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| This tool shows all calibrated camera poses in the OptiTrack Y-up world, places the synchronized RGB stream on every camera frustum, and animates the pre-baked SMPL-X mesh. |
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| By default only one JPEG frame per camera is transferred and placed on its frustum. Pass `--full-video` only when complete video playback is needed. |
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| The default view includes all eight ZED cameras, twelve calibrated OptiTrack IR cameras, and one virtual forehead Homie camera. The Homie camera uses the front-left RGB image and the midpoint pose of the calibrated front-left/right optical cameras. |
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| The individual room object meshes are the opaque, colorful primary geometry, except `table_cook.obj`, which is intentionally excluded. When present, `scene.obj` is also loaded as a translucent neutral context layer to fill geometry missing from the individual parts. Pass `--no-room-assets` to disable all room geometry. |
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| Floor and horizontal center alignment are enabled by default. Add a measured correction with `--asset-translation DX DY DZ` (meters), use `--no-auto-asset-align` to disable only the center heuristic, or `--no-room-alignment` to disable all alignment and CLI offsets. |
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| Persist a manual rotation with `--asset-rotation-deg RX RY RZ`; angles are degrees about world X/Y/Z and compose as `Rz @ Ry @ Rx`. |
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| The Gradio translation/rotation panel starts by default on `web-port + 2`. Use `--no-room-controls` to disable it. Its offsets are applied on top of the automatic alignment result. |
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| When room assets are enabled, the accumulated default correction is `--asset-translation 0.12 -0.52 0.79 --asset-rotation-deg 0 62 0`. Camera frustums use moderately compact image-plane distances: 0.32 m for ZED/OptiTrack and 0.24 m for Homie. |
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| ## Install |
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| ```bash |
| cd /home/acerobotics/visualize |
| python -m venv .venv |
| .venv/bin/pip install -r requirements.txt |
| ``` |
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| ## Run |
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| The server is headless, so run the logger there: |
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| ```bash |
| .venv/bin/python visualize_case.py /mnt/Datasets/2026-06-27-12:26:35 |
| ``` |
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| It first writes a temporary `.rrd`, then starts a persistent Web Viewer for that file on server port 9090. On your **local** machine, create an SSH tunnel (replace the host if needed): |
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| ```bash |
| ssh -N \ |
| -L 9090:127.0.0.1:9090 \ |
| acerobotics@AceRobotics-Server01 |
| ``` |
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| The data proxy uses the next port, so for `--web-port 9091`, forward both 9091 and 9092. Open the exact URL printed by the script. |
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| If 9090 is occupied by an older server, add `--web-port 9091` and tunnel/open port 9091 instead. |
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| Keep both the SSH tunnel and the server-side logger running while viewing. After logging completes, the logger deliberately stays alive to host the recording; press `Ctrl+C` when finished. |
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| To use a separately managed Rerun server instead, start it with `.venv/bin/rerun --serve-web`, then pass `--connect rerun+http://127.0.0.1:9876/proxy` to the logger. |
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| Useful options: |
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| ```bash |
| # Quick 10-second check with fewer cameras and a 10 Hz body mesh |
| .venv/bin/python visualize_case.py DATA_CASE --zed 0,1 --homie front_left,front_right --duration 10 --mesh-fps 10 |
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| # Save a recording instead of opening the viewer |
| .venv/bin/python visualize_case.py DATA_CASE --save output.rrd |
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| # Camera-only or mesh-only variants |
| .venv/bin/python visualize_case.py DATA_CASE --no-smpl |
| .venv/bin/python visualize_case.py DATA_CASE --no-video |
| .venv/bin/python visualize_case.py DATA_CASE --full-video |
| ``` |
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| The default calibration snapshots in `config/` correspond to the rig calibration used by this case. Override them with `--zed-calib`, `--homie-calib`, and `--homie-camchain` for a case recorded with different hardware calibration. |
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| Notes: |
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| - The full 225-second case is large. `--mesh-fps 15` is the default compromise; use 5–10 Hz for fast inspection or 60 Hz for every SMPL frame. |
| - Default web mode writes a temporary RRD under `/tmp`; use `--save PATH.rrd` if you want to keep the recording permanently. |
| - Single-frame mode is the default and needs little proxy memory. Full-video mode can be several GiB; adjust `--server-memory` according to server RAM. |
| - ZED images contain lens distortion while Rerun's 3D textured pinhole plane is an ideal pinhole. The supplied calibrated intrinsic matrix provides the correct camera pose and a close frustum; exact distortion-aware reprojection belongs in a separate 2D overlay. |
| - Homie videos are the case's 1024×1024 rectified pinhole views, so their image planes use the same rectification as the exported RGB. |
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