enhance logging for helper keyframes by adding timeless parameter and reorganizing camera trajectory logging

visualization/logger.py

@@ -154,7 +154,8 @@ class SimulationLogger:
                         translation=position,
                         rotation=rr.Quaternion(xyzw=rotation_q),
                         scale=(1.0, 1.0, 1.0)
-                    )
+                    ),
+                    timeless=True
                 )
 
                 rr.log(
@@ -163,8 +164,17 @@ class SimulationLogger:
                         image_from_camera=self.K,
                         width=1920,
                         height=1080,
-                        color=(1.0, 1.0, 0.0, 1.0)
-                    )
+                    ),
+                    timeless=True
+                )
+                
+                rr.log(
+                    "world/helper_keyframes/camera_point_{keyframe_idx}",
+                    rr.Points3D(
+                        position,
+                        colors=np.full((len(position), 4), [1.0, 1.0, 0.0, 1.0])
+                    ),
+                    timeless=True
                 )
 
             except Exception as e:

visualization/visualizer.py

@@ -26,11 +26,12 @@ def visualize_simulation(file, simulation_index: Optional[int]) -> Optional[str]
         logger = SimulationLogger()
         logger.log_metadata(simulation['instructions'])
         logger.log_subjects(simulation['subjects'])
-        logger.log_camera_trajectory(simulation['cameraFrames'])
-        logger.log_camera_frames(simulation['cameraFrames'])
 
         if 'helper_keyframes' in simulation:
             logger.log_helper_keyframes(simulation['helper_keyframes'])
+        
+        logger.log_camera_trajectory(simulation['cameraFrames'])
+        logger.log_camera_frames(simulation['cameraFrames'])
 
         rr.save(rrd_path)