--add semantic visualization in a more formal manner.

examples/viewer.py

@@ -76,6 +76,9 @@ def __init__(self, sim_settings: Dict[str, Any]) -> None:
         self.debug_bullet_draw = False
         # draw active contact point debug line visualizations
         self.contact_debug_draw = False
+        # draw semantic region debug visualizations if present
+        self.semantic_region_debug_draw = False
+
         # cache most recently loaded URDF file for quick-reload
         self.cached_urdf = ""
 
@@ -176,7 +179,7 @@ def __init__(self, sim_settings: Dict[str, Any]) -> None:
         self.replay_renderer_cfg: Optional[ReplayRendererConfiguration] = None
         self.replay_renderer: Optional[ReplayRenderer] = None
         self.reconfigure_sim()
-        self.region_colors = {}
+        self.debug_semantic_colors = {}
 
         # compute NavMesh if not already loaded by the scene.
         if (
@@ -190,55 +193,53 @@ def __init__(self, sim_settings: Dict[str, Any]) -> None:
         logger.setLevel("INFO")
         self.print_help_text()
 
-    def draw_contact_debug(self):
+    def draw_contact_debug(self, debug_line_render: Any):
         """
         This method is called to render a debug line overlay displaying active contact points and normals.
         Yellow lines show the contact distance along the normal and red lines show the contact normal at a fixed length.
         """
         yellow = mn.Color4.yellow()
         red = mn.Color4.red()
         cps = self.sim.get_physics_contact_points()
-        self.sim.get_debug_line_render().set_line_width(1.5)
+        debug_line_render.set_line_width(1.5)
         camera_position = self.render_camera.render_camera.node.absolute_translation
         # only showing active contacts
         active_contacts = (x for x in cps if x.is_active)
         for cp in active_contacts:
             # red shows the contact distance
-            self.sim.get_debug_line_render().draw_transformed_line(
+            debug_line_render.draw_transformed_line(
                 cp.position_on_b_in_ws,
                 cp.position_on_b_in_ws
                 + cp.contact_normal_on_b_in_ws * -cp.contact_distance,
                 red,
             )
             # yellow shows the contact normal at a fixed length for visualization
-            self.sim.get_debug_line_render().draw_transformed_line(
+            debug_line_render.draw_transformed_line(
                 cp.position_on_b_in_ws,
                 # + cp.contact_normal_on_b_in_ws * cp.contact_distance,
                 cp.position_on_b_in_ws + cp.contact_normal_on_b_in_ws * 0.1,
                 yellow,
             )
-            self.sim.get_debug_line_render().draw_circle(
+            debug_line_render.draw_circle(
                 translation=cp.position_on_b_in_ws,
                 radius=0.005,
                 color=yellow,
                 normal=camera_position - cp.position_on_b_in_ws,
             )
 
-    def draw_region(self, region: Any, color: Optional[mn.Color4] = None) -> None:
+    def draw_region_debug(self, debug_line_render: Any) -> None:
         """
-        Draw a region wireframe.
+        Draw the semantic region wireframes.
         """
 
-        if color is None:
-            color = mn.Color4.magenta()
-
-        debug_line_render = self.sim.get_debug_line_render()
-        for edge in region.volume_edges:
-            debug_line_render.draw_transformed_line(
-                edge[0],
-                edge[1],
-                color,
-            )
+        for region in self.sim.semantic_scene.regions:
+            color = self.debug_semantic_colors.get(region.id, mn.Color4.magenta())
+            for edge in region.volume_edges:
+                debug_line_render.draw_transformed_line(
+                    edge[0],
+                    edge[1],
+                    color,
+                )
 
     def debug_draw(self):
         """
@@ -248,20 +249,18 @@ def debug_draw(self):
             render_cam = self.render_camera.render_camera
             proj_mat = render_cam.projection_matrix.__matmul__(render_cam.camera_matrix)
             self.sim.physics_debug_draw(proj_mat)
+
+        debug_line_render = self.sim.get_debug_line_render()
         if self.contact_debug_draw:
-            self.draw_contact_debug()
+            self.draw_contact_debug(debug_line_render)
 
-        if len(self.region_colors) == 0:
-            for region in self.sim.semantic_scene.regions:
-                self.region_colors[region.id] = mn.Color4(
-                    mn.Vector3(np.random.random(3))
-                )
-        for region in self.sim.semantic_scene.regions:
-            # if region.contains(self.default_agent.get_state().position+mn.Vector3(0,0.3,0)):
-            #    print(region.id)
-            if region.id in self.region_colors:
-                self.draw_region(region, color=self.region_colors[region.id])
-            # self.draw_region(region)
+        if self.semantic_region_debug_draw:
+            if len(self.debug_semantic_colors) != len(self.sim.semantic_scene.regions):
+                for region in self.sim.semantic_scene.regions:
+                    self.debug_semantic_colors[region.id] = mn.Color4(
+                        mn.Vector3(np.random.random(3))
+                    )
+            self.draw_region_debug(debug_line_render)
 
     def draw_event(
         self,
@@ -502,6 +501,12 @@ def key_press_event(self, event: Application.KeyEvent) -> None:
 
         elif key == pressed.H:
             self.print_help_text()
+        elif key == pressed.J:
+            logger.info(
+                f"Toggle Region Draw from {self.semantic_region_debug_draw } to {not self.semantic_region_debug_draw}"
+            )
+            # Toggle visualize semantic bboxes. Currently only regions supported
+            self.semantic_region_debug_draw = not self.semantic_region_debug_draw
 
         elif key == pressed.TAB:
             # NOTE: (+ALT) - reconfigure without cycling scenes
@@ -619,7 +624,6 @@ def key_press_event(self, event: Application.KeyEvent) -> None:
         elif key == pressed.V:
             self.invert_gravity()
             logger.info("Command: gravity inverted")
-
         elif key == pressed.N:
             # (default) - toggle navmesh visualization
             # NOTE: (+ALT) - re-sample the agent position on the NavMesh
@@ -1002,6 +1006,7 @@ def print_help_text(self) -> None:
     ',':        Render a Bullet collision shape debug wireframe overlay (white=active, green=sleeping, blue=wants sleeping, red=can't sleep).
     'c':        Run a discrete collision detection pass and render a debug wireframe overlay showing active contact points and normals (yellow=fixed length normals, red=collision distances).
                 (+SHIFT) Toggle the contact point debug render overlay on/off.
+    'j'         Toggle Semantic visualization bounds (currently only Semantic Region annotations)
 
     Object Interactions:
     SPACE:      Toggle physics simulation on/off.