Clear stale data by logging empty entities to unused namespaces. Args: curr_stream_set: Dictionary mapping stream types to sets of active namespace strings for the current frame. Should contain entries for all stream types in self.stream_
(self, curr_stream_set: Dict[str, Set[str]])
| 252 | forward = transform[:3, 0] * 5.0 |
| 253 | origin_entity = rr.Points3D([origin], colors=[[255, 255, 0]], radii=0.5) |
| 254 | forward_entity = rr.Arrows3D(origins=[origin], vectors=[forward], colors=[[255, 64, 64]], radii=0.15) |
| 255 | if self.dual_pcd: |
| 256 | for root in ("/lidar_raw", "/lidar_compensated"): |
| 257 | rr.log(f"{root}/ego/origin", origin_entity) |
| 258 | rr.log(f"{root}/ego/forward", forward_entity) |
| 259 | else: |
| 260 | rr.log("/ego/origin", origin_entity) |
| 261 | rr.log("/ego/forward", forward_entity) |
| 262 | |
| 263 | def set_time_sequence(self, name: str, value: int) -> None: |
| 264 | rr.set_time(name, sequence=value) |
| 265 | |
| 266 | def set_time_nanos(self, name: str, value: int) -> None: |
| 267 | rr.set_time(name, timestamp=np.datetime64(value, "ns")) |
| 268 | |
| 269 | def set_frame_counter(self, frame_idx: Optional[int] = None, timestamp_ns: Optional[int] = None) -> None: |
| 270 | """ |
| 271 | Advance sequence and time clocks and update current frame tracking. |