remove unused codes

app.py

@@ -3,7 +3,6 @@ from gradio_rerun import Rerun
 from data.loader import load_simulation_data
 from visualization.visualizer import visualize_simulation
 from visualization.et_visualizer import visualize_et_data
-from pathlib import Path
 
 
 def update_simulation_dropdown(file):
@@ -18,7 +17,6 @@ def update_simulation_dropdown(file):
 def create_app():
     with gr.Blocks() as demo:
         with gr.Tabs() as tabs:
-            # Camera Simulation Tab
             with gr.Tab("Camera Simulation"):
                 gr.Markdown("""
                 # Camera Simulation Visualizer
@@ -52,7 +50,6 @@ def create_app():
                     outputs=[viewer]
                 )
 
-            # E.T. Dataset Tab
             with gr.Tab("E.T. Dataset"):
                 gr.Markdown("""
                 # E.T. Dataset Visualizer
@@ -69,14 +66,6 @@ def create_app():
                         file_types=[".npy"]
                     )
 
-                with gr.Row():
-                    et_viewer = Rerun(streaming=False)
-
-                def process_et_files(traj_file, char_file):
-                    if traj_file is None or char_file is None:
-                        return None
-                    return visualize_et_data(traj_file.name, char_file.name)
-
                 with gr.Row():
                     visualize_btn = gr.Button("Visualize")
                     visualize_btn.click(
@@ -85,6 +74,14 @@ def create_app():
                         outputs=[et_viewer]
                     )
 
+                with gr.Row():
+                    et_viewer = Rerun(streaming=False)
+
+                def process_et_files(traj_file, char_file):
+                    if traj_file is None or char_file is None:
+                        return None
+                    return visualize_et_data(traj_file.name, char_file.name)
+
     return demo
 
 

visualization/et_visualizer.py

@@ -20,21 +20,17 @@ def load_trajectory_data(traj_file: str, char_file: str, num_cams: int = 30) ->
     raw_trans = torch.clone(matrix_trajectory[:, :3, 3])
     raw_rot = matrix_trajectory[:, :3, :3]
 
-    # Convert to 6D rotation representation
     rot6d = raw_rot[:, :, :2].permute(0, 2, 1).reshape(-1, 6)
     trajectory_feature = torch.hstack([rot6d, raw_trans]).permute(1, 0)
 
-    # Pad trajectory features
     padded_trajectory_feature = F.pad(
         trajectory_feature,
         (0, num_cams - trajectory_feature.shape[1])
     )
 
-    # Create padding mask
     padding_mask = torch.ones((num_cams))
     padding_mask[trajectory_feature.shape[1]:] = 0
 
-    # Load and pad character features
     char_feature = torch.from_numpy(np.load(char_file)).to(torch.float32)
     padding_size = num_cams - char_feature.shape[0]
     padded_char_feature = F.pad(
@@ -55,7 +51,7 @@ class ETLogger(SimulationLogger):
         super().__init__()
         rr.init("et_visualization")
         rr.log("world", rr.ViewCoordinates.RIGHT_HAND_Y_UP, timeless=True)
-        # Default camera intrinsics
+
         self.K = np.array([
             [500, 0, 320],
             [0, 500, 240],
@@ -63,11 +59,9 @@ class ETLogger(SimulationLogger):
         ])
 
     def log_trajectory(self, trajectory: np.ndarray, padding_mask: np.ndarray):
-        """Log camera trajectory."""
         valid_frames = int(padding_mask.sum())
         valid_trajectory = trajectory[:valid_frames]
 
-        # Log trajectory points
         positions = valid_trajectory[:, :3, 3]
         rr.log(
             "world/trajectory/points",
@@ -78,7 +72,6 @@ class ETLogger(SimulationLogger):
             timeless=True
         )
 
-        # Log trajectory line
         if len(positions) > 1:
             lines = np.stack([positions[:-1], positions[1:]], axis=1)
             rr.log(
@@ -90,17 +83,14 @@ class ETLogger(SimulationLogger):
                 timeless=True
             )
 
-        # Log cameras
         for k in range(valid_frames):
-            # Set time sequence
+
             rr.set_time_sequence("frame_idx", k)
 
-            # Get camera pose
             translation = valid_trajectory[k, :3, 3]
             rotation_q = Rotation.from_matrix(
                 valid_trajectory[k, :3, :3]).as_quat()
 
-            # Log camera transform
             rr.log(
                 f"world/camera",
                 rr.Transform3D(
@@ -109,7 +99,6 @@ class ETLogger(SimulationLogger):
                 ),
             )
 
-            # Log camera frustum
             rr.log(
                 f"world/camera/image",
                 rr.Pinhole(
@@ -120,7 +109,6 @@ class ETLogger(SimulationLogger):
             )
 
     def log_character(self, char_feature: np.ndarray, padding_mask: np.ndarray):
-        """Log character feature visualization."""
         valid_frames = int(padding_mask.sum())
         valid_char = char_feature[:, :valid_frames]
 
@@ -138,16 +126,13 @@ class ETLogger(SimulationLogger):
 
 @spaces.GPU
 def visualize_et_data(traj_file: str, char_file: str) -> Optional[str]:
-    """Visualize E.T. dataset using Rerun."""
     try:
-        # Load data
+
         data = load_trajectory_data(traj_file, char_file)
 
-        # Create temporary file for RRD
         temp_dir = tempfile.mkdtemp()
         rrd_path = os.path.join(temp_dir, "et_visualization.rrd")
 
-        # Initialize logger and log data
         logger = ETLogger()
         logger.log_trajectory(
             data["raw_matrix_trajectory"].numpy(),
@@ -158,7 +143,6 @@ def visualize_et_data(traj_file: str, char_file: str) -> Optional[str]:
             data["padding_mask"].numpy()
         )
 
-        # Save visualization
         rr.save(rrd_path)
         return rrd_path
 

visualization/logger.py

@@ -18,10 +18,10 @@ class SimulationLogger:
     def __init__(self):
         rr.init("camera_simulation")
         rr.log("world", rr.ViewCoordinates.RIGHT_HAND_Y_UP, timeless=True)
-        # Default camera intrinsics
+
         self.K = np.array([
-            [500, 0, 960],  # adjusted for 1920x1080
-            [0, 500, 540],  # adjusted for 1920x1080
+            [500, 0, 960],
+            [0, 500, 540],
             [0, 0, 1]
         ])
 
@@ -93,7 +93,6 @@ class SimulationLogger:
                 timeless=True
             )
 
-            # Add trajectory line
             if len(camera_positions) > 1:
                 lines = np.stack(
                     [camera_positions[:-1], camera_positions[1:]], axis=1)
@@ -120,7 +119,6 @@ class SimulationLogger:
                 position = vector3_to_numpy(camera_frame['position'])
                 rotation_q = euler_to_quaternion(camera_frame['angle'])
 
-                # Log camera transform
                 rr.log(
                     "world/camera",
                     rr.Transform3D(
@@ -129,7 +127,6 @@ class SimulationLogger:
                     )
                 )
 
-                # Log camera image plane with intrinsics
                 rr.log(
                     "world/camera/image",
                     rr.Pinhole(

visualization/visualizer.py

@@ -18,11 +18,9 @@ def visualize_simulation(file, simulation_index: Optional[int]) -> Optional[str]
             print(f"Invalid simulation data or index: {simulation_index}")
             return None
 
-        # Create temporary file for RRD
         temp_dir = tempfile.mkdtemp()
         rrd_path = os.path.join(temp_dir, "simulation.rrd")
 
-        # Log selected simulation
         simulation = simulations[simulation_index]
 
         logger = SimulationLogger()