floppyrj45/lingbot-map
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

update model

Browse Source
This commit is contained in:
LinZhuoChen
2026-04-17 18:50:25 +08:00
parent f307fdba68
commit 5bd89bfd1b
2 changed files with 25 additions and 109 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
README.md
View File

@@ -79,7 +79,10 @@ pip install -e ".[vis]"
| Model Name | Huggingface Repository | ModelScope Repository | Description |
| :--- | :--- | :--- | :--- |
| lingbot-map | [robbyant/lingbot-map](https://huggingface.co/robbyant/lingbot-map) | [Robbyant/lingbot-map](https://www.modelscope.cn/models/Robbyant/lingbot-map) | Base model checkpoint (4.63 GB) |
| lingbot-map | [robbyant/lingbot-map](https://huggingface.co/robbyant/lingbot-map) | [Robbyant/lingbot-map](https://www.modelscope.cn/models/Robbyant/lingbot-map) | Balanced checkpoint used in the paper and demo — strong all-around performance across short and long sequences. |
| lingbot-map-long | [robbyant/lingbot-map](https://huggingface.co/robbyant/lingbot-map) | [Robbyant/lingbot-map](https://www.modelscope.cn/models/Robbyant/lingbot-map) | Better suited for long sequences. |
> 🚧 **Coming soon:** we're training an stronger model that supports longer sequences — stay tuned.
# 🎬 Demo

113
lingbot_map/vis/point_cloud_viewer.py
View File

@@ -42,7 +42,6 @@ class PointCloudViewer:
- Camera frustum visualization with gradient colors
- Frame-by-frame playback animation (3D/4D modes)
- Range-based and recent-N-frames visualization modes
- Navigation mode (camera following)
- Video export with FFmpeg
Args:
@@ -304,6 +303,16 @@ class PointCloudViewer:
[0.0, -1.0, 0.0]
)
# Video frame display controls — kept at top so the current frame is always visible
with self.server.gui.add_folder("Video Display"):
self.show_video_checkbox = self.server.gui.add_checkbox("Show Current Frame", initial_value=True)
if hasattr(self, 'original_images') and len(self.original_images) > 0:
self.current_frame_image = self.server.gui.add_image(
self.original_images[0], label="Current Frame"
)
else:
self.current_frame_image = None
# Preset view direction buttons
with self.server.gui.add_folder("Reset View Direction"):
btn_look_at_center = self.server.gui.add_button(
@@ -413,47 +422,6 @@ class PointCloudViewer:
"Camera Downsample Factor", min=1, max=50, step=1, initial_value=1
)
# Range visualization controls
with self.server.gui.add_folder("Frame Range Control"):
self.range_mode_checkbox = self.server.gui.add_checkbox("Range Mode", initial_value=False)
self.range_start_slider = self.server.gui.add_slider(
"Start Frame", min=0, max=len(self.all_steps) - 1, step=1, initial_value=0, disabled=True
)
self.range_end_slider = self.server.gui.add_slider(
"End Frame", min=0, max=len(self.all_steps) - 1, step=1,
initial_value=len(self.all_steps) - 1, disabled=True
)
self.recent_n_mode_checkbox = self.server.gui.add_checkbox("Recent N Frames Mode", initial_value=False)
self.recent_n_slider = self.server.gui.add_slider(
"Recent N Frames", min=1, max=len(self.all_steps), step=1,
initial_value=min(10, len(self.all_steps)), disabled=True
)
# Navigation mode controls
with self.server.gui.add_folder("Navigation Mode"):
self.navigation_mode_checkbox = self.server.gui.add_checkbox("Follow Camera", initial_value=False)
self.smooth_navigation_checkbox = self.server.gui.add_checkbox("Smooth Transition", initial_value=True)
self.navigation_offset_slider = self.server.gui.add_slider(
"Camera Offset", min=0.0, max=2.0, step=0.05, initial_value=0.5
)
self.navigation_fov_checkbox = self.server.gui.add_checkbox("Match FOV", initial_value=True)
self.go_to_camera_button = self.server.gui.add_button("Go to Current Camera")
@self.go_to_camera_button.on_click
def _(_) -> None:
if hasattr(self, 'gui_timestep'):
self._move_to_camera(self.gui_timestep.value, smooth=self.smooth_navigation_checkbox.value)
# Video frame display controls
with self.server.gui.add_folder("Video Display"):
self.show_video_checkbox = self.server.gui.add_checkbox("Show Current Frame", initial_value=True)
if hasattr(self, 'original_images') and len(self.original_images) > 0:
self.current_frame_image = self.server.gui.add_image(
self.original_images[0], label="Current Frame"
)
else:
self.current_frame_image = None
# Screenshot controls
with self.server.gui.add_folder("Screenshot"):
self.screenshot_button = self.server.gui.add_button("Take Screenshot")
@@ -602,42 +570,6 @@ class PointCloudViewer:
def _(_) -> None:
self._regenerate_cameras()
@self.range_mode_checkbox.on_update
def _(_) -> None:
self.range_start_slider.disabled = not self.range_mode_checkbox.value
self.range_end_slider.disabled = not self.range_mode_checkbox.value
if self.range_mode_checkbox.value:
self.recent_n_mode_checkbox.value = False
if hasattr(self, 'frame_nodes'):
self.update_frame_visibility()
@self.recent_n_mode_checkbox.on_update
def _(_) -> None:
self.recent_n_slider.disabled = not self.recent_n_mode_checkbox.value
if self.recent_n_mode_checkbox.value:
self.range_mode_checkbox.value = False
if hasattr(self, 'frame_nodes'):
self.update_frame_visibility()
@self.recent_n_slider.on_update
def _(_) -> None:
if hasattr(self, 'frame_nodes'):
self.update_frame_visibility()
@self.range_start_slider.on_update
def _(_) -> None:
if self.range_start_slider.value > self.range_end_slider.value:
self.range_end_slider.value = self.range_start_slider.value
if hasattr(self, 'frame_nodes'):
self.update_frame_visibility()
@self.range_end_slider.on_update
def _(_) -> None:
if self.range_end_slider.value < self.range_start_slider.value:
self.range_start_slider.value = self.range_end_slider.value
if hasattr(self, 'frame_nodes'):
self.update_frame_visibility()
def _regenerate_point_clouds(self):
"""Regenerate all point clouds with current settings."""
if not hasattr(self, 'frame_nodes'):
@@ -920,24 +852,11 @@ class PointCloudViewer:
return trimesh.util.concatenate(segments)
def update_frame_visibility(self):
"""Update frame visibility based on range mode settings."""
"""Show all frames up to the current timestep (or only the current one in 4D mode)."""
if not hasattr(self, 'frame_nodes') or not hasattr(self, 'gui_timestep'):
return
current_timestep = self.gui_timestep.value
if self.recent_n_mode_checkbox.value:
n = int(self.recent_n_slider.value)
start_idx = max(0, current_timestep - n + 1)
end_idx = current_timestep
for i, frame_node in enumerate(self.frame_nodes):
frame_node.visible = start_idx <= i <= end_idx
elif self.range_mode_checkbox.value:
start_idx = self.range_start_slider.value
end_idx = self.range_end_slider.value
for i, frame_node in enumerate(self.frame_nodes):
frame_node.visible = start_idx <= i <= end_idx
else:
for i, frame_node in enumerate(self.frame_nodes):
frame_node.visible = (
i <= current_timestep if not self.fourd else i == current_timestep
@@ -955,12 +874,12 @@ class PointCloudViewer:
focal = self.cam_dict["focal"][step] if "focal" in self.cam_dict else 1.0
pp = self.cam_dict["pp"][step] if "pp" in self.cam_dict else (1.0, 1.0)
offset = self.navigation_offset_slider.value if hasattr(self, 'navigation_offset_slider') else 0.5
offset = 0.5
viewing_dir = R[:, 2] # camera Z axis in world frame
position = t - viewing_dir * offset
look_at = t + viewing_dir * 0.5 # look slightly ahead of camera
fov = 2 * np.arctan(pp[0] / focal) if self.navigation_fov_checkbox.value else None
fov = 2 * np.arctan(pp[0] / focal)
up = -R[:, 1] # camera -Y axis in world frame
for client in self.server.get_clients().values():
@@ -1286,12 +1205,6 @@ class PointCloudViewer:
if current_timestep < len(self.original_images):
self.current_frame_image.image = self.original_images[current_timestep]
if hasattr(self, 'navigation_mode_checkbox') and self.navigation_mode_checkbox.value:
self._move_to_camera(current_timestep, smooth=self.smooth_navigation_checkbox.value)
if self.recent_n_mode_checkbox.value:
self.update_frame_visibility()
elif not self.range_mode_checkbox.value:
with self.server.atomic():
self.frame_nodes[current_timestep].visible = True
self.frame_nodes[prev_timestep].visible = False