Add minimal cmake project that logs std::vector<Eigen::Vector3f> to Rerun

Author: roym899

.gitignore

@@ -1,3 +1,9 @@
+# Build directory
+build/
+
+# LSP files
+compile_commands.json
+
 # Prerequisites
 *.d
 

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.16)
+
+project(rerun_external_cpp_proj LANGUAGES CXX)
+
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+if(NOT DEFINED CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+find_package(Eigen3 REQUIRED)
+find_package(OpenCV REQUIRED)
+find_package(Arrow REQUIRED)
+# find_package(rerun_sdk REQUIRED)  # this would be nice (i.e., installable rerun_sdk)
+
+# assume rerun_sdk has been build beforehand
+add_library(rerun_sdk INTERFACE)
+target_include_directories(rerun_sdk INTERFACE /home/leo/code/rerun/rerun_cpp/src/)
+target_link_libraries(rerun_sdk INTERFACE /home/leo/code/rerun/build/rerun_cpp/librerun_sdk.a)
+target_link_libraries(rerun_sdk INTERFACE /home/leo/code/rerun/target/release/librerun_c.a)
+if(ARROW_LINK_SHARED)
+    target_link_libraries(rerun_sdk INTERFACE Arrow::arrow_shared)
+else()
+    target_link_libraries(rerun_sdk INTERFACE Arrow::arrow_static)
+endif()
+
+
+add_executable(rerun_ext_example src/main.cpp)
+
+target_link_libraries(rerun_ext_example Eigen3::Eigen ${OpenCV_LIBS} rerun_sdk)

README.md

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+# C++ Example with OpenCV and Eigen
+
+This is a minimal CMake project that shows how to use [Rerun](https://github.com/rerun-io/rerun) in your code in conjunction with [Eigen](https://eigen.tuxfamily.org/) and [OpenCV](https://opencv.org/).
+
+## Depedencies
+
+TODO
+
+## How to build and run
+
+```bash
+mkdir build
+cd build
+cmake ..
+cmake --build .
+```

rerun-logo.png

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+#include <eigen3/Eigen/Core>
+#include <eigen3/Eigen/Dense>
+#include <iostream>
+#include <opencv2/core.hpp>
+#include <opencv2/highgui.hpp>
+#include <opencv2/imgcodecs.hpp>
+#include <rerun.hpp>
+
+template <>
+struct rerun::ComponentBatchAdapter<rerun::components::Position3D, std::vector<Eigen::Vector3f>> {
+    // Sanity check that this is binary compatible.
+    static_assert(sizeof(components::Position3D) == sizeof(Eigen::Vector3f));
+    static_assert(alignof(components::Position3D) <= alignof(Eigen::Vector3f));
+
+    ComponentBatch<components::Position3D> operator()(const std::vector<Eigen::Vector3f> &container
+    ) {
+        return ComponentBatch<components::Position3D>::borrow(
+            reinterpret_cast<const components::Position3D *>(container.data()),
+            container.size()
+        );
+    }
+
+    ComponentBatch<components::Position3D> operator()(std::vector<Eigen::Vector3f> &&container) {
+        throw std::runtime_error("Not implemented for temporaries");
+    }
+};
+
+int main() {
+    auto rec = rerun::RecordingStream("rerun_external_cpp_app");
+    rec.connect("127.0.0.1:9876").throw_on_failure();
+
+    // Points represented by std::vector<Eigen::Vector3f>
+    std::vector<Eigen::Vector3f> points3d_eigen{{0.1f, 0.1f, 0.1f}};
+    rec.log("random", rerun::Points3D(points3d_eigen));
+
+    // Points represented by Nx3 Eigen::Mat...
+
+    // Image
+    std::string image_path = "rerun-logo.png";
+    cv::Mat img = imread(image_path, cv::IMREAD_COLOR);
+    if (img.empty()) {
+        std::cout << "Could not read the image: " << image_path << std::endl;
+        return 1;
+    }
+    imshow("Display window", img);
+    cv::waitKey(0);
+
+    return 0;
+}