Merge pull request #9 from rerun-io/improve-adapters

Improve batch adapters

Author: Wumpf

CMakeLists.txt

@@ -9,7 +9,7 @@ if(NOT DEFINED CMAKE_CXX_STANDARD)
 endif()
 
 include(FetchContent)
-FetchContent_Declare(rerun_sdk URL https://build.rerun.io/commit/bc05d11/rerun_cpp_sdk.zip) # 2023-10-26
+FetchContent_Declare(rerun_sdk URL https://build.rerun.io/commit/b7f404a/rerun_cpp_sdk.zip) # 2023-10-29
 FetchContent_MakeAvailable(rerun_sdk)
 
 find_package(Eigen3 REQUIRED)

src/batch_adapters.hpp

@@ -0,0 +1,41 @@
+#pragma once
+
+#include <rerun.hpp>
+
+// Adapters so we can log eigen vectors as rerun positions:
+template <>
+struct rerun::ComponentBatchAdapter<rerun::Position3D, std::vector<Eigen::Vector3f>> {
+    ComponentBatch<rerun::Position3D> operator()(const std::vector<Eigen::Vector3f>& container) {
+        return ComponentBatch<rerun::Position3D>::borrow(container.data(), container.size());
+    }
+
+    ComponentBatch<rerun::Position3D> operator()(std::vector<Eigen::Vector3f>&& container) {
+        std::vector<rerun::Position3D> positions(container.size());
+        memcpy(positions.data(), container.data(), container.size() * sizeof(Eigen::Vector3f));
+        return ComponentBatch<rerun::Position3D>::take_ownership(std::move(positions));
+    }
+};
+
+// Adapters so we can log an eigen matrix as rerun positions:
+template <>
+struct rerun::ComponentBatchAdapter<rerun::Position3D, Eigen::Matrix3Xf> {
+    ComponentBatch<rerun::Position3D> operator()(const Eigen::Matrix3Xf& matrix) {
+        // Sanity check that this is binary compatible.
+        static_assert(
+            sizeof(rerun::Position3D) ==
+            sizeof(Eigen::Matrix3Xf::Scalar) * Eigen::Matrix3Xf::RowsAtCompileTime
+        );
+        static_assert(alignof(rerun::Position3D) <= alignof(Eigen::Matrix3Xf::Scalar));
+        return ComponentBatch<rerun::Position3D>::borrow(
+            // Cast to void because otherwise Rerun will try to do above sanity checks with the wrong type (scalar).
+            reinterpret_cast<const void*>(matrix.data()),
+            matrix.cols()
+        );
+    }
+
+    ComponentBatch<rerun::Position3D> operator()(Eigen::Matrix3Xf&& matrix) {
+        std::vector<rerun::Position3D> positions(matrix.cols());
+        memcpy(positions.data(), matrix.data(), matrix.size() * sizeof(rerun::Position3D));
+        return ComponentBatch<rerun::Position3D>::take_ownership(std::move(positions));
+    }
+};

src/main.cpp

@@ -8,46 +8,7 @@
 #include <opencv2/imgproc.hpp>
 #include <rerun.hpp>
 
-// Adapters so we can log eigen vectors as rerun positions:
-template <>
-struct rerun::ComponentBatchAdapter<rerun::Position3D, std::vector<Eigen::Vector3f>> {
-    // Sanity check that this is binary compatible.
-    static_assert(sizeof(rerun::Position3D) == sizeof(Eigen::Vector3f));
-    static_assert(alignof(rerun::Position3D) <= alignof(Eigen::Vector3f));
-
-    ComponentBatch<rerun::Position3D> operator()(const std::vector<Eigen::Vector3f>& container) {
-        return ComponentBatch<rerun::Position3D>::borrow(
-            reinterpret_cast<const rerun::Position3D*>(container.data()),
-            container.size()
-        );
-    }
-
-    ComponentBatch<rerun::Position3D> operator()(std::vector<Eigen::Vector3f>&& container) {
-        throw std::runtime_error("Not implemented for temporaries");
-    }
-};
-
-// Adapters so we can log an eigen matrix as rerun positions:
-template <>
-struct rerun::ComponentBatchAdapter<rerun::Position3D, Eigen::Matrix3Xf> {
-    // Sanity check that this is binary compatible.
-    static_assert(
-        sizeof(rerun::Position3D) ==
-        sizeof(Eigen::Matrix3Xf::Scalar) * Eigen::Matrix3Xf::RowsAtCompileTime
-    );
-    static_assert(alignof(rerun::Position3D) <= alignof(Eigen::Matrix3Xf));
-
-    ComponentBatch<rerun::Position3D> operator()(const Eigen::Matrix3Xf& matrix) {
-        return ComponentBatch<rerun::Position3D>::borrow(
-            reinterpret_cast<const rerun::Position3D*>(matrix.data()),
-            matrix.cols()
-        );
-    }
-
-    ComponentBatch<rerun::Position3D> operator()(std::vector<Eigen::Matrix3Xf>&& container) {
-        throw std::runtime_error("Not implemented for temporaries");
-    }
-};
+#include "batch_adapters.hpp"
 
 std::vector<Eigen::Vector3f> generate_random_points_vector(int num_points) {
     std::vector<Eigen::Vector3f> points(num_points);