Add semantic/depth image rendering to Python viewer - #2642
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Add support for displaying depth and semantic sensor observations in the Python interactive viewer (examples/viewer.py). Previously the viewer only supported RGB display via the color sensor. Add --semantic-sensor and --depth-sensor CLI flags to enable additional sensors at startup, and key bindings '1' (RGB), '2' (depth), '3' (semantic) to switch between sensor views at runtime. Depth observations are converted to a grayscale visualization. Semantic observations use a deterministic multiplicative hash to map object IDs to consistent colors. Raw OpenGL calls render the converted images as fullscreen textured quads since the C++ visualizeObservation() is not exposed to Python bindings. Fixes facebookresearch#1752 Test Plan: python examples/viewer.py --scene /path/to/scene.glb --depth-sensor --semantic-sensor Press '2' for depth, '3' for semantic, '1' to return to RGB
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Fixes #1752
Add support for displaying depth and semantic sensor observations in the Python interactive viewer (
examples/viewer.py). Previously the viewer only supported RGB display via the color sensor.Changes
--semantic-sensorand--depth-sensorCLI flags to enable additional sensors at startup1(RGB),2(depth),3(semantic) to switch between sensor views at runtimevisualizeObservation()is not exposed to Python bindings)Usage
python examples/viewer.py --scene /path/to/scene.glb --depth-sensor --semantic-sensor # Press '2' for depth, '3' for semantic, '1' to return to RGBScreenshots
(RGB, depth, and semantic views can be cycled with keys 1/2/3 at runtime)
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