viewer in its own crate + intensity image tweaks (#18)

Co-authored-by: strasdat <strasdat@localhost.localdomain>

Cargo.toml

@@ -7,6 +7,7 @@ members = [
   "crates/sophus_image",
   "crates/sophus_sensor",
   "crates/sophus_opt",
+  "crates/sophus_viewer",
 ]
 resolver = "2"
 
@@ -20,46 +21,47 @@ include = [
 keywords = ["robotics", "optimization"]
 license = "MIT OR Apache-2.0"
 repository = "https://github.com/farm-ng/sophus-rs/"
-version = "0.4.0"
+version = "0.6.0"
 
 [workspace.dependencies]
-sophus = {path = "crates/sophus", version = "0.4.0"}
-sophus_core = {path = "crates/sophus_core", version = "0.4.0"}
-sophus_image = {path = "crates/sophus_image", version = "0.4.0"}
-sophus_lie = {path = "crates/sophus_lie", version = "0.4.0"}
-sophus_opt = {path = "crates/sophus_opt", version = "0.4.0"}
-sophus_pyo3 = {path = "crates/sophus_pyo3", version = "0.4.0"}
-sophus_sensor = {path = "crates/sophus_sensor", version = "0.4.0"}
+sophus = {path = "crates/sophus", version = "0.6.0"}
+sophus_core = {path = "crates/sophus_core", version = "0.6.0"}
+sophus_image = {path = "crates/sophus_image", version = "0.6.0"}
+sophus_lie = {path = "crates/sophus_lie", version = "0.6.0"}
+sophus_opt = {path = "crates/sophus_opt", version = "0.6.0"}
+sophus_pyo3 = {path = "crates/sophus_pyo3", version = "0.6.0"}
+sophus_sensor = {path = "crates/sophus_sensor", version = "0.6.0"}
+sophus_viewer = {path = "crates/sophus_viewer", version = "0.6.0"}
 
-approx = "0.5.1"
-as-any = "0.3.1"
-assertables = "7.0.1"
-async-trait = "0.1.77"
-bytemuck = {version = "1.14.0", features = ["derive"]}
-concat-arrays = "0.1.2"
-dyn-clone = "1.0.16"
-eframe = {version = "0.26", features = ["wgpu"]}
-egui_extras = "0.26"
+approx = "0.5"
+as-any = "0.3"
+assertables = "7.0"
+async-trait = "0.1"
+bytemuck = {version = "1.14", features = ["derive"]}
+concat-arrays = "0.1"
+dyn-clone = "1.0"
+eframe = {version = "0.27", features = ["wgpu"]}
+egui_extras = "0.27"
 env_logger = "0.11"
 faer = "0.18"
-hollywood = "0.5.0"
+hollywood = {version = "0.7.0"}
 image = {version = "0.25", features = [
   "jpeg",
   "png",
   "tiff",
 ]}
-log = "0.4.14"
+log = "0.4"
 nalgebra = {version = "0.32", features = ["rand"]}
-ndarray = {version = "0.15.4", features = ["approx-0_5"]}
-num-traits = "0.2.15"
+ndarray = {version = "0.15", features = ["approx-0_5"]}
+num-traits = "0.2"
 numpy = "0.21"
-png = "0.17.11"
-rand = "0.8.5"
-sleef = "0.3.2"
+png = "0.17"
+rand = "0.8"
+sleef = "0.3"
 tokio = {version = "1", features = ["full"]}
-typenum = {version = "1.17.0", features = ["const-generics"]}
+typenum = {version = "1.17", features = ["const-generics"]}
 wgpu = "0.19"
-winit = {version = "0.29", features = ["android-native-activity"]}
+winit = {version = "0.30", features = ["android-native-activity"]}
 
 [profile.release]
 debug = 1

README.md

@@ -1,3 +1,7 @@
 # sophus-rs
 
-highly experimental... use at your own risk
+This library is in an early development stage - hence API is highly unstable.
+
+Sophus-rs currently requires rust nightly. The only nightly feature it uses is `portable-simd`.
+It is the intention to move to rust stable once `portable-simd` is stabilized. There is no current
+plan to depend on other nightly features.

crates/sophus/Cargo.toml

@@ -17,6 +17,7 @@ sophus_lie.workspace = true
 sophus_opt.workspace = true
 sophus_pyo3.workspace = true
 sophus_sensor.workspace = true
+sophus_viewer.workspace = true
 
 approx.workspace = true
 assertables.workspace = true

crates/sophus/examples/pose_graph.rs

@@ -1,8 +1,6 @@
 use hollywood::actors::egui::EguiActor;
 use hollywood::actors::egui::Stream;
-pub use hollywood::compute::Context;
-pub use hollywood::core::*;
-use hollywood::macros::*;
+use hollywood::prelude::*;
 use sophus::opt::example_problems::pose_circle::PoseCircleProblem;
 use sophus::prelude::*;
 use sophus::viewer::actor::run_viewer_on_main_thread;
@@ -20,18 +18,26 @@ use sophus_sensor::camera_enum::perspective_camera::PerspectiveCameraEnum;
 use sophus_sensor::dyn_camera::DynCamera;
 use sophus_sensor::KannalaBrandtCamera;
 
-#[actor(ContentGeneratorMessage)]
+#[actor(ContentGeneratorMessage, NullInRequestMessage)]
 type ContentGenerator = Actor<
     NullProp,
     ContentGeneratorInbound,
+    NullInRequests,
     ContentGeneratorState,
     ContentGeneratorOutbound,
-    NullRequest,
+    NullOutRequests,
 >;
 
 /// Inbound message for the ContentGenerator actor.
 #[derive(Clone, Debug)]
-#[actor_inputs(ContentGeneratorInbound, {NullProp, ContentGeneratorState, ContentGeneratorOutbound, NullRequest})]
+#[actor_inputs(
+    ContentGeneratorInbound,
+    {
+        NullProp,
+        ContentGeneratorState,
+        ContentGeneratorOutbound,
+        NullOutRequests,
+        NullInRequestMessage})]
 pub enum ContentGeneratorMessage {
     /// in seconds
     ClockTick(f64),
@@ -86,14 +92,14 @@ fn make_axes(world_from_local_poses: Vec<Isometry2<f64, 1>>) -> Vec<Line3> {
     lines
 }
 
-impl OnMessage for ContentGeneratorMessage {
+impl HasOnMessage for ContentGeneratorMessage {
     /// Process the inbound time_stamp message.
     fn on_message(
         self,
         _prop: &Self::Prop,
         _state: &mut Self::State,
         outbound: &Self::OutboundHub,
-        _request: &NullRequest,
+        _request: &NullOutRequests,
     ) {
         match &self {
             ContentGeneratorMessage::ClockTick(_time_in_seconds) => {
@@ -116,7 +122,7 @@ impl OnMessage for ContentGeneratorMessage {
     }
 }
 
-impl InboundMessageNew<f64> for ContentGeneratorMessage {
+impl IsInboundMessageNew<f64> for ContentGeneratorMessage {
     fn new(_inbound_name: String, msg: f64) -> Self {
         ContentGeneratorMessage::ClockTick(msg)
     }
@@ -147,7 +153,7 @@ pub async fn run_viewer_example() {
     let mut builder = ViewerBuilder::from_config(ViewerConfig { camera });
 
     // Pipeline configuration
-    let pipeline = hollywood::compute::Context::configure(&mut |context| {
+    let pipeline = Hollywood::configure(&mut |context| {
         // Actor creation:
         // 1. Periodic timer to drive the simulation
         let mut timer = hollywood::actors::Periodic::new_with_period(context, 0.01);
@@ -158,8 +164,9 @@ pub async fn run_viewer_example() {
             ContentGeneratorState::default(),
         );
         // 3. The viewer actor
-        let mut viewer =
-            EguiActor::<Vec<Renderable>, (), Isometry3<f64, 1>>::from_builder(context, &builder);
+        let mut viewer = EguiActor::<Vec<Renderable>, (), Isometry3<f64, 1>, (), ()>::from_builder(
+            context, &builder,
+        );
 
         // Pipeline connections:
         timer

crates/sophus/examples/viewer_ex.rs

@@ -1,11 +1,6 @@
 use hollywood::actors::egui::EguiActor;
 use hollywood::actors::egui::Stream;
-pub use hollywood::compute::Context;
-use hollywood::core::request::ReplyMessage;
-use hollywood::core::request::RequestChannel;
-pub use hollywood::core::request::RequestHub;
-pub use hollywood::core::*;
-use hollywood::macros::*;
+use hollywood::prelude::*;
 use nalgebra::SVector;
 use sophus::image::arc_image::ArcImage4F32;
 use sophus::image::ImageSize;
@@ -21,37 +16,47 @@ use sophus_core::linalg::VecF64;
 use sophus_lie::Isometry3;
 use sophus_sensor::DynCamera;
 
-#[actor(ContentGeneratorMessage)]
+#[actor(ContentGeneratorMessage, NullInRequestMessage)]
 type ContentGenerator = Actor<
     NullProp,
     ContentGeneratorInbound,
+    NullInRequests,
     ContentGeneratorState,
     ContentGeneratorOutbound,
-    ContentGeneratorRequest,
+    ContentGeneratorOutRequest,
 >;
 
 /// Inbound message for the ContentGenerator actor.
 #[derive(Clone, Debug)]
-#[actor_inputs(ContentGeneratorInbound, {NullProp, ContentGeneratorState, ContentGeneratorOutbound, ContentGeneratorRequest})]
+#[actor_inputs(
+    ContentGeneratorInbound,
+    {
+        NullProp,
+        ContentGeneratorState,
+        ContentGeneratorOutbound,
+        ContentGeneratorOutRequest,
+        NullInRequestMessage
+    })]
 pub enum ContentGeneratorMessage {
     /// in seconds
     ClockTick(f64),
     SceneFromCamera(ReplyMessage<Isometry3<f64, 1>>),
 }
 
 /// Request of the simulation actor.
-pub struct ContentGeneratorRequest {
+pub struct ContentGeneratorOutRequest {
     /// Check time-stamp of receiver
-    pub scene_from_camera_request: RequestChannel<(), Isometry3<f64, 1>, ContentGeneratorMessage>,
+    pub scene_from_camera_request:
+        OutRequestChannel<(), Isometry3<f64, 1>, ContentGeneratorMessage>,
 }
 
-impl RequestHub<ContentGeneratorMessage> for ContentGeneratorRequest {
+impl IsOutRequestHub<ContentGeneratorMessage> for ContentGeneratorOutRequest {
     fn from_parent_and_sender(
         actor_name: &str,
-        sender: &tokio::sync::mpsc::Sender<ContentGeneratorMessage>,
+        sender: &tokio::sync::mpsc::UnboundedSender<ContentGeneratorMessage>,
     ) -> Self {
         Self {
-            scene_from_camera_request: RequestChannel::new(
+            scene_from_camera_request: OutRequestChannel::new(
                 actor_name.to_owned(),
                 "scene_from_camera_request",
                 sender,
@@ -60,7 +65,7 @@ impl RequestHub<ContentGeneratorMessage> for ContentGeneratorRequest {
     }
 }
 
-impl Activate for ContentGeneratorRequest {
+impl HasActivate for ContentGeneratorOutRequest {
     fn extract(&mut self) -> Self {
         Self {
             scene_from_camera_request: self.scene_from_camera_request.extract(),
@@ -104,14 +109,14 @@ pub struct ContentGeneratorOutbound {
     pub packets: OutboundChannel<Stream<Vec<Renderable>>>,
 }
 
-impl OnMessage for ContentGeneratorMessage {
+impl HasOnMessage for ContentGeneratorMessage {
     /// Process the inbound time_stamp message.
     fn on_message(
         self,
         _prop: &Self::Prop,
         state: &mut Self::State,
         outbound: &Self::OutboundHub,
-        request: &ContentGeneratorRequest,
+        request: &ContentGeneratorOutRequest,
     ) {
         match &self {
             ContentGeneratorMessage::ClockTick(_time_in_seconds) => {
@@ -414,13 +419,13 @@ impl OnMessage for ContentGeneratorMessage {
     }
 }
 
-impl InboundMessageNew<f64> for ContentGeneratorMessage {
+impl IsInboundMessageNew<f64> for ContentGeneratorMessage {
     fn new(_inbound_name: String, msg: f64) -> Self {
         ContentGeneratorMessage::ClockTick(msg)
     }
 }
 
-impl InboundMessageNew<ReplyMessage<Isometry3<f64, 1>>> for ContentGeneratorMessage {
+impl IsInboundMessageNew<ReplyMessage<Isometry3<f64, 1>>> for ContentGeneratorMessage {
     fn new(_inbound_name: String, scene_from_camera: ReplyMessage<Isometry3<f64, 1>>) -> Self {
         ContentGeneratorMessage::SceneFromCamera(scene_from_camera)
     }
@@ -449,7 +454,7 @@ pub async fn run_viewer_example() {
     let mut builder = ViewerBuilder::from_config(ViewerConfig { camera });
 
     // Pipeline configuration
-    let pipeline = hollywood::compute::Context::configure(&mut |context| {
+    let pipeline = Hollywood::configure(&mut |context| {
         // Actor creation:
         // 1. Periodic timer to drive the simulation
         let mut timer = hollywood::actors::Periodic::new_with_period(context, 0.01);
@@ -465,8 +470,9 @@ pub async fn run_viewer_example() {
             },
         );
         // 3. The viewer actor
-        let mut viewer =
-            EguiActor::<Vec<Renderable>, (), Isometry3<f64, 1>>::from_builder(context, &builder);
+        let mut viewer = EguiActor::<Vec<Renderable>, (), Isometry3<f64, 1>, (), ()>::from_builder(
+            context, &builder,
+        );
 
         // Pipeline connections:
         timer
@@ -478,9 +484,9 @@ pub async fn run_viewer_example() {
             .packets
             .connect(context, &mut viewer.inbound.stream);
         content_generator
-            .request
+            .out_requests
             .scene_from_camera_request
-            .connect(context, &mut viewer.inbound.request);
+            .connect(context, &mut viewer.in_requests.request);
     });
 
     // The cancel_requester is used to cancel the pipeline.

crates/sophus/src/lib.rs

@@ -6,10 +6,10 @@ pub use sophus_image as image;
 pub use sophus_lie as lie;
 pub use sophus_opt as opt;
 pub use sophus_sensor as sensor;
-
-pub mod viewer;
+pub use sophus_viewer as viewer;
 
 pub use hollywood;
+pub use nalgebra;
 
 pub mod prelude {
     pub use crate::core::prelude::*;