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feat(viz): render depth observations as rr.DepthImage in Viridis

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CarolinePascal
2026-05-20 16:22:34 +02:00
parent 14df709201
commit 1dafb4acf6
1 changed files with 8 additions and 1 deletions
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src/lerobot/utils/visualization_utils.py
+7
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@@ -106,6 +106,13 @@ def log_rerun_data(
if arr.ndim == 1: if arr.ndim == 1:
for i, vi in enumerate(arr): for i, vi in enumerate(arr):
rr.log(f"{key}_{i}", rr.Scalars(float(vi))) rr.log(f"{key}_{i}", rr.Scalars(float(vi)))
else:
if arr.shape[-1] == 1:
img_entity = (
rr.DepthImage(arr, colormap=rr.components.Colormap.Viridis).compress()
if compress_images
else rr.rr.DepthImage(arr, colormap=rr.components.Colormap.Viridis)
)
else: else:
img_entity = rr.Image(arr).compress() if compress_images else rr.Image(arr) img_entity = rr.Image(arr).compress() if compress_images else rr.Image(arr)
rr.log(key, entity=img_entity, static=True) rr.log(key, entity=img_entity, static=True)