Pylints and pass the unit through to the viewer.

luxonis · Feb 23, 2024 · dd10b91 · dd10b91
1 parent b07696f
commit dd10b91
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Showing 11 changed files with 32 additions and 20 deletions.
diff --git a/crates/re_viewer/src/ui/data_ui/image.rs b/crates/re_viewer/src/ui/data_ui/image.rs
@@ -568,8 +568,11 @@ fn tensor_pixel_value_ui(
                 _ => {
                     match &tensor.unit {
                         Some(unit) => {
-                            println!("Unit: {unit}");
-                            tensor.get(&[y, x]).map(|v| format!("Val: {v} {unit}"))
+                            if tensor.dtype().is_float() {
+                                tensor.get(&[y, x]).map(|v| format!("Val: {v:.2} {unit}"))
+                            } else {
+                                tensor.get(&[y, x]).map(|v| format!("Val: {v} {unit}"))
+                            }
                         },
                         None => {
                             tensor.get(&[y, x]).map(|v| format!("Val: {v}"))

diff --git a/rerun_py/depthai_viewer/__init__.py b/rerun_py/depthai_viewer/__init__.py
@@ -6,7 +6,7 @@
 import depthai_viewer_bindings as bindings  # type: ignore[attr-defined]
 
 from depthai_viewer import _backend
-from depthai_viewer.components.tensor import ImageEncoding, Colormap
+from depthai_viewer.components.tensor import Colormap, ImageEncoding
 from depthai_viewer.log import log_cleared
 from depthai_viewer.log.annotation import (
     AnnotationInfo,

diff --git a/rerun_py/depthai_viewer/_backend/config_api.py b/rerun_py/depthai_viewer/_backend/config_api.py
@@ -162,7 +162,10 @@ async def main(port: int = 9001) -> None:
 
 
 def start_api(
-    _dispatch_action_queue: Queue, _result_queue: Queue, _send_message_queue: Queue, port: int = 9001  # type: ignore[type-arg]
+    _dispatch_action_queue: Queue,  # type: ignore[type-arg]
+    _result_queue: Queue,  # type: ignore[type-arg]
+    _send_message_queue: Queue,  # type: ignore[type-arg]
+    port: int = 9001,
 ) -> None:
     """
     Starts the websocket API.

diff --git a/rerun_py/depthai_viewer/_backend/device.py b/rerun_py/depthai_viewer/_backend/device.py
@@ -32,6 +32,7 @@
     get_size_from_resolution,
     size_to_resolution,
 )
+from depthai_viewer._backend.device_defaults import oak_t_default
 from depthai_viewer._backend.messages import (
     ErrorMessage,
     InfoMessage,
@@ -40,7 +41,6 @@
 )
 from depthai_viewer._backend.packet_handler import PacketHandler
 from depthai_viewer._backend.store import Store
-from depthai_viewer._backend.device_defaults import oak_t_default
 
 
 class XlinkStatistics:
@@ -526,10 +526,10 @@ def update_pipeline(self, runtime_only: bool) -> Message:
                 self.store.send_message_to_frontend(
                     WarningMessage(f"{config.ai_model.camera} is not configured, won't create NNET.")
                 )
-            if cam_component and config.ai_model and config.ai_model.path == "age-gender-recognition-retail-0013":
+            elif config.ai_model.path == "age-gender-recognition-retail-0013":
                 face_detection = self._oak.create_nn("face-detection-retail-0004", cam_component)
                 self._nnet = self._oak.create_nn("age-gender-recognition-retail-0013", input=face_detection)
-            elif cam_component:
+            else:
                 self._nnet = self._oak.create_nn(config.ai_model.path, cam_component)
             if self._nnet:
                 self._queues.append((self._nnet, self._oak.queue(self._nnet.out.main)))

diff --git a/rerun_py/depthai_viewer/_backend/device_configuration.py b/rerun_py/depthai_viewer/_backend/device_configuration.py
@@ -56,7 +56,9 @@ def to_runtime_controls(self) -> Dict[str, Any]:
                 "align": (
                     "RECTIFIED_LEFT"
                     if self.align == dai.CameraBoardSocket.LEFT
-                    else "RECTIFIED_RIGHT" if self.align == dai.CameraBoardSocket.RIGHT else "CENTER"
+                    else "RECTIFIED_RIGHT"
+                    if self.align == dai.CameraBoardSocket.RIGHT
+                    else "CENTER"
                 ),
                 "lr_check": self.lr_check,
                 "lrc_check_threshold": self.lrc_threshold,
@@ -270,9 +272,9 @@ class DeviceProperties(BaseModel):  # type: ignore[misc]
     id: str
     cameras: List[CameraFeatures] = []
     imu: Optional[ImuKind]
-    stereo_pairs: List[Tuple[dai.CameraBoardSocket, dai.CameraBoardSocket]] = (
-        []
-    )  # Which cameras can be paired for stereo
+    stereo_pairs: List[
+        Tuple[dai.CameraBoardSocket, dai.CameraBoardSocket]
+    ] = []  # Which cameras can be paired for stereo
     default_stereo_pair: Optional[Tuple[dai.CameraBoardSocket, dai.CameraBoardSocket]] = None
     info: DeviceInfo = DeviceInfo()
 

diff --git a/rerun_py/depthai_viewer/_backend/device_defaults/oak_t_default.py b/rerun_py/depthai_viewer/_backend/device_defaults/oak_t_default.py
@@ -1,9 +1,9 @@
+import depthai as dai
 from depthai_viewer._backend.device_configuration import (
-    PipelineConfiguration,
     CameraConfiguration,
     CameraSensorResolution,
+    PipelineConfiguration,
 )
-import depthai as dai
 
 config = PipelineConfiguration(
     cameras=[

diff --git a/rerun_py/depthai_viewer/_backend/main.py b/rerun_py/depthai_viewer/_backend/main.py
@@ -6,7 +6,6 @@
 
 import sentry_sdk
 
-import depthai_viewer as viewer
 from depthai_viewer import version as depthai_viewer_version
 from depthai_viewer._backend.config_api import Action, start_api
 from depthai_viewer._backend.device import Device

diff --git a/rerun_py/depthai_viewer/_backend/packet_handler.py b/rerun_py/depthai_viewer/_backend/packet_handler.py
@@ -132,7 +132,7 @@ def _on_camera_frame(self, packet: FramePacket, board_socket: dai.CameraBoardSoc
             )
         elif packet.msg.getType() == dai.RawImgFrame.Type.GRAYF16:
             img = img_frame.view(np.float16).reshape(h, w)
-            viewer.log_image(entity_path, img, colormap=viewer.Colormap.Magma, unit="degrees ")
+            viewer.log_image(entity_path, img, colormap=viewer.Colormap.Magma, unit="°C")
         else:
             viewer.log_image(entity_path, img_frame)
 

diff --git a/rerun_py/depthai_viewer/components/tensor.py b/rerun_py/depthai_viewer/components/tensor.py
@@ -121,7 +121,7 @@ def from_numpy(
         else:
             meter = pa.array([meter], mask=[False], type=pa.float32())
 
-        unit = pa.array(["string" if unit is not None else ""], type=pa.string())
+        unit = pa.array([unit if unit is not None else ""], type=pa.string())
 
         storage = pa.StructArray.from_arrays(
             [tensor_id, shape, data, meaning, meter, colormap, unit],

diff --git a/rerun_py/depthai_viewer/log/image.py b/rerun_py/depthai_viewer/log/image.py
@@ -2,9 +2,9 @@
 
 import numpy as np
 import numpy.typing as npt
-from enum import Enum
+
 from depthai_viewer import bindings
-from depthai_viewer.components.tensor import ImageEncoding, Colormap
+from depthai_viewer.components.tensor import Colormap, ImageEncoding
 from depthai_viewer.log.error_utils import _send_warning
 from depthai_viewer.log.log_decorator import log_decorator
 from depthai_viewer.log.tensor import Tensor, _log_tensor, _to_numpy
@@ -46,6 +46,10 @@ def log_image(
         Path to the image in the space hierarchy.
     image:
         A [Tensor][rerun.log.tensor.Tensor] representing the image to log.
+    colormap:
+        Optional colormap to apply to single channel images.
+    unit:
+        Optional unit of the single channel image.
     ext:
         Optional dictionary of extension components. See [rerun.log_extension_components][]
     timeless:

diff --git a/rerun_py/depthai_viewer/log/tensor.py b/rerun_py/depthai_viewer/log/tensor.py
@@ -5,7 +5,7 @@
 
 from depthai_viewer import bindings
 from depthai_viewer.components.instance import InstanceArray
-from depthai_viewer.components.tensor import ImageEncoding, TensorArray, Colormap
+from depthai_viewer.components.tensor import Colormap, ImageEncoding, TensorArray
 from depthai_viewer.log.error_utils import _send_warning
 from depthai_viewer.log.extension_components import _add_extension_components
 from depthai_viewer.log.log_decorator import log_decorator
@@ -18,7 +18,8 @@
 class TorchTensorLike(Protocol):
     """Describes what is need from a Torch Tensor to be loggable to Rerun."""
 
-    def numpy(self, force: bool) -> npt.NDArray[Any]: ...
+    def numpy(self, force: bool) -> npt.NDArray[Any]:
+        ...
 
 
 Tensor = Union[npt.ArrayLike, TorchTensorLike]