refactor: pyo3 and preludes

crates/sophus/examples/pose_graph.rs

@@ -3,23 +3,22 @@ use hollywood::actors::egui::Stream;
 pub use hollywood::compute::Context;
 pub use hollywood::core::*;
 use hollywood::macros::*;
-use sophus::image::image_view::ImageSize;
-use sophus::lie::traits::IsTranslationProductGroup;
 use sophus::opt::example_problems::pose_circle::PoseCircleProblem;
+use sophus::prelude::*;
 use sophus::viewer::actor::run_viewer_on_main_thread;
 use sophus::viewer::actor::ViewerBuilder;
 use sophus::viewer::actor::ViewerCamera;
 use sophus::viewer::actor::ViewerConfig;
 use sophus::viewer::renderable::*;
 use sophus::viewer::scene_renderer::interaction::WgpuClippingPlanes;
 use sophus::viewer::SimpleViewer;
-use sophus_core::linalg::vector::IsVector;
 use sophus_core::linalg::VecF64;
-use sophus_lie::groups::isometry2::Isometry2;
-use sophus_lie::groups::isometry3::Isometry3;
-use sophus_sensor::camera_enum::perspective_camera::KannalaBrandtCamera;
+use sophus_image::ImageSize;
+use sophus_lie::Isometry2;
+use sophus_lie::Isometry3;
 use sophus_sensor::camera_enum::perspective_camera::PerspectiveCameraEnum;
 use sophus_sensor::dyn_camera::DynCamera;
+use sophus_sensor::KannalaBrandtCamera;
 
 #[actor(ContentGeneratorMessage)]
 type ContentGenerator = Actor<
@@ -100,16 +99,16 @@ impl OnMessage for ContentGeneratorMessage {
             ContentGeneratorMessage::ClockTick(_time_in_seconds) => {
                 let pose_graph = PoseCircleProblem::new(25);
 
-                let mut renderables = vec![];
-
-                renderables.push(Renderable::Lines3(Lines3 {
-                    name: "true".into(),
-                    lines: make_axes(pose_graph.true_world_from_robot.clone()),
-                }));
-                renderables.push(Renderable::Lines3(Lines3 {
-                    name: "est".into(),
-                    lines: make_axes(pose_graph.est_world_from_robot.clone()),
-                }));
+                let renderables = vec![
+                    Renderable::Lines3(Lines3 {
+                        name: "true".into(),
+                        lines: make_axes(pose_graph.true_world_from_robot.clone()),
+                    }),
+                    Renderable::Lines3(Lines3 {
+                        name: "est".into(),
+                        lines: make_axes(pose_graph.est_world_from_robot.clone()),
+                    }),
+                ];
 
                 outbound.packets.send(Stream { msg: renderables });
             }

crates/sophus/examples/viewer_ex.rs

@@ -8,19 +8,18 @@ pub use hollywood::core::*;
 use hollywood::macros::*;
 use nalgebra::SVector;
 use sophus::image::arc_image::ArcImage4F32;
-use sophus::image::image_view::ImageSize;
+use sophus::image::ImageSize;
+use sophus::prelude::*;
 use sophus::viewer::actor::run_viewer_on_main_thread;
 use sophus::viewer::actor::ViewerBuilder;
 use sophus::viewer::actor::ViewerCamera;
 use sophus::viewer::actor::ViewerConfig;
 use sophus::viewer::renderable::*;
 use sophus::viewer::scene_renderer::interaction::WgpuClippingPlanes;
 use sophus::viewer::SimpleViewer;
-use sophus_core::linalg::vector::IsVector;
 use sophus_core::linalg::VecF64;
-use sophus_lie::groups::isometry3::Isometry3;
-use sophus_lie::traits::IsTranslationProductGroup;
-use sophus_sensor::dyn_camera::DynCamera;
+use sophus_lie::Isometry3;
+use sophus_sensor::DynCamera;
 
 #[actor(ContentGeneratorMessage)]
 type ContentGenerator = Actor<

crates/sophus/src/lib.rs

@@ -1,4 +1,5 @@
 #![feature(portable_simd)]
+#![allow(clippy::needless_range_loop)]
 
 pub use sophus_core as core;
 pub use sophus_image as image;
@@ -9,3 +10,10 @@ pub use sophus_sensor as sensor;
 pub mod viewer;
 
 pub use hollywood;
+
+pub mod prelude {
+    pub use crate::core::prelude::*;
+    pub use crate::image::prelude::*;
+    pub use crate::lie::prelude::*;
+    pub use crate::opt::prelude::*;
+}

crates/sophus/src/viewer.rs

@@ -3,7 +3,6 @@ pub mod offscreen;
 pub mod pixel_renderer;
 pub mod renderable;
 pub mod scene_renderer;
-
 use self::actor::ViewerBuilder;
 use self::offscreen::OffscreenTexture;
 use self::pixel_renderer::PixelRenderer;
@@ -12,8 +11,8 @@ use self::scene_renderer::depth_renderer::DepthRenderer;
 use self::scene_renderer::textured_mesh::TexturedMeshVertex3;
 use self::scene_renderer::SceneRenderer;
 use crate::image::arc_image::ArcImage4U8;
-use crate::image::image_view::ImageSize;
 use crate::image::image_view::IsImageView;
+use crate::image::ImageSize;
 use crate::viewer::pixel_renderer::LineVertex2;
 use crate::viewer::pixel_renderer::PointVertex2;
 use crate::viewer::scene_renderer::line::LineVertex3;
@@ -30,7 +29,7 @@ use hollywood::actors::egui::Stream;
 use hollywood::compute::pipeline::CancelRequest;
 use hollywood::core::request::RequestMessage;
 use sophus_core::tensor::tensor_view::IsTensorLike;
-use sophus_lie::groups::isometry3::Isometry3;
+use sophus_lie::Isometry3;
 use sophus_sensor::dyn_camera::DynCamera;
 use std::sync::Arc;
 

crates/sophus/src/viewer/actor.rs

@@ -5,9 +5,8 @@ use eframe::egui;
 use hollywood::actors::egui::EguiAppFromBuilder;
 use hollywood::actors::egui::GenericEguiBuilder;
 use hollywood::core::request::RequestMessage;
-use sophus_lie::groups::isometry3::Isometry3;
+use sophus_lie::Isometry3;
 use sophus_sensor::dyn_camera::DynCamera;
-
 pub struct ViewerCamera {
     pub intrinsics: DynCamera<f64, 1>,
     pub clipping_planes: WgpuClippingPlanes,

crates/sophus/src/viewer/offscreen.rs

@@ -1,9 +1,9 @@
 use crate::image::arc_image::ArcImageF32;
-use crate::image::image_view::ImageSize;
 use crate::image::image_view::ImageViewF32;
+use crate::image::ImageSize;
 use crate::viewer::ViewerRenderState;
 use eframe::egui::{self};
-use sophus_sensor::dyn_camera::DynCamera;
+use sophus_sensor::DynCamera;
 
 #[derive(Debug)]
 pub(crate) struct OffscreenTexture {

crates/sophus/src/viewer/pixel_renderer.rs

@@ -1,13 +1,11 @@
 pub mod line;
 pub mod pixel_point;
-
+use self::line::PixelLineRenderer;
+use self::pixel_point::PixelPointRenderer;
 use crate::viewer::actor::ViewerBuilder;
 use crate::viewer::scene_renderer::interaction::InteractionState;
 use crate::viewer::DepthRenderer;
 use crate::viewer::ViewerRenderState;
-
-use self::line::PixelLineRenderer;
-use self::pixel_point::PixelPointRenderer;
 use bytemuck::Pod;
 use bytemuck::Zeroable;
 use std::num::NonZeroU64;

crates/sophus/src/viewer/pixel_renderer/line.rs

@@ -1,7 +1,6 @@
 use crate::viewer::renderable::Line2;
 use crate::viewer::LineVertex2;
 use crate::viewer::ViewerRenderState;
-
 use eframe::egui_wgpu::wgpu::util::DeviceExt;
 use nalgebra::SVector;
 use std::collections::BTreeMap;

crates/sophus/src/viewer/pixel_renderer/pixel_point.rs

@@ -1,7 +1,6 @@
 use crate::viewer::renderable::Point2;
 use crate::viewer::PointVertex2;
 use crate::viewer::ViewerRenderState;
-
 use eframe::egui_wgpu::wgpu::util::DeviceExt;
 use std::collections::BTreeMap;
 use std::sync::Mutex;

crates/sophus/src/viewer/scene_renderer.rs

@@ -5,7 +5,6 @@ pub mod line;
 pub mod mesh;
 pub mod point;
 pub mod textured_mesh;
-
 use self::buffers::SceneRenderBuffers;
 use self::interaction::Interaction;
 use self::mesh::MeshRenderer;

crates/sophus/src/viewer/scene_renderer/buffers.rs

@@ -1,7 +1,6 @@
 use crate::sensor::distortion_table::DistortTable;
 use crate::viewer::ViewerBuilder;
 use crate::viewer::ViewerRenderState;
-
 use std::sync::Mutex;
 use wgpu::util::DeviceExt;
 

crates/sophus/src/viewer/scene_renderer/interaction.rs

@@ -1,10 +1,8 @@
 use crate::image::arc_image::ArcImageF32;
-use crate::image::image_view::IsImageView;
-use crate::lie::traits::IsTranslationProductGroup;
+use crate::prelude::*;
 use eframe::egui;
 use sophus_core::linalg::VecF64;
-use sophus_core::tensor::tensor_view::IsTensorLike;
-use sophus_lie::groups::isometry3::Isometry3;
+use sophus_lie::Isometry3;
 use sophus_sensor::dyn_camera::DynCamera;
 
 #[derive(Clone, Copy)]

crates/sophus/src/viewer/scene_renderer/line.rs

@@ -1,6 +1,5 @@
 use crate::viewer::renderable::Line3;
 use crate::viewer::ViewerRenderState;
-
 use bytemuck::Pod;
 use bytemuck::Zeroable;
 use eframe::egui_wgpu::wgpu::util::DeviceExt;

crates/sophus/src/viewer/scene_renderer/mesh.rs

@@ -1,6 +1,5 @@
 use crate::viewer::renderable::Triangle3;
 use crate::viewer::ViewerRenderState;
-
 use bytemuck::Pod;
 use bytemuck::Zeroable;
 use eframe::egui_wgpu::wgpu::util::DeviceExt;

crates/sophus/src/viewer/scene_renderer/point.rs

@@ -1,6 +1,5 @@
 use crate::viewer::renderable::Point3;
 use crate::viewer::ViewerRenderState;
-
 use bytemuck::Pod;
 use bytemuck::Zeroable;
 use eframe::egui_wgpu::wgpu::util::DeviceExt;

crates/sophus/src/viewer/scene_renderer/textured_mesh.rs

@@ -1,12 +1,11 @@
+use crate::viewer::renderable::TexturedTriangle3;
+use crate::viewer::ViewerRenderState;
 use bytemuck::Pod;
 use bytemuck::Zeroable;
 use eframe::egui_wgpu::wgpu::util::DeviceExt;
 use std::collections::BTreeMap;
 use wgpu::DepthStencilState;
 
-use crate::viewer::renderable::TexturedTriangle3;
-use crate::viewer::ViewerRenderState;
-
 #[repr(C)]
 #[derive(Clone, Copy, Pod, Zeroable)]
 pub struct TexturedMeshVertex3 {

crates/sophus_core/src/calculus.rs

@@ -3,11 +3,18 @@
 
 /// dual numbers - for automatic differentiation
 pub mod dual;
-/// manifolds
-pub mod manifold;
+
 /// curves, scalar-valued, vector-valued, and matrix-valued maps
 pub mod maps;
+
 /// intervals and regions
 pub mod region;
+pub use crate::calculus::region::IInterval;
+pub use crate::calculus::region::IRegion;
+pub use crate::calculus::region::Interval;
+pub use crate::calculus::region::Region;
+
 /// splines
 pub mod spline;
+pub use crate::calculus::spline::CubicBSpline;
+pub use crate::calculus::spline::CubicBSplineParams;

crates/sophus_core/src/calculus/dual.rs

@@ -1,6 +1,14 @@
-///! DualScalar matrix.
+/// DualScalar matrix.
 pub mod dual_matrix;
-///! DualScalar scalar.
+pub use crate::calculus::dual::dual_matrix::DualBatchMatrix;
+pub use crate::calculus::dual::dual_matrix::DualMatrix;
+
+/// DualScalar scalar.
 pub mod dual_scalar;
-///! DualScalar vector.
+pub use crate::calculus::dual::dual_scalar::DualBatchScalar;
+pub use crate::calculus::dual::dual_scalar::DualScalar;
+
+/// DualScalar vector.
 pub mod dual_vector;
+pub use crate::calculus::dual::dual_vector::DualBatchVector;
+pub use crate::calculus::dual::dual_vector::DualVector;