Skip to content

update Rerun API V0.18.2 #16

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 7 commits into from
Oct 3, 2024
Merged

update Rerun API V0.18.2 #16

Show file tree
Hide file tree
Changes from 5 commits
Commits
Show all changes
7 commits
Select commit Hold shift + click to select a range
30c8339
chore: bump rerun API compatibiliy to 0.18.2
tfoldi Oct 2, 2024
503b5a4
format: apply clang-format
tfoldi Oct 2, 2024
9e4cead
chore: use img_data_as_collection everywhere
tfoldi Oct 2, 2024
b9e280f
chore: trying to find out the proper way to use Adapters
tfoldi Oct 2, 2024
b36a0e4
feat: add rgb8 color mode for pc2
tfoldi Oct 3, 2024
b0f5a35
chore: apply suggestions from code review
tfoldi Oct 3, 2024
eeb63ae
style: reformat
tfoldi Oct 3, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion rerun_bridge/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@ find_package(OpenCV REQUIRED)
find_package(yaml-cpp REQUIRED)

include(FetchContent)
FetchContent_Declare(rerun_sdk URL https://github.com/rerun-io/rerun/releases/download/0.16.0/rerun_cpp_sdk.zip)
FetchContent_Declare(rerun_sdk URL https://github.com/rerun-io/rerun/releases/download/0.18.2/rerun_cpp_sdk.zip)
FetchContent_MakeAvailable(rerun_sdk)

# setup targets (has to be done before ament_package call)
Expand Down
7 changes: 2 additions & 5 deletions rerun_bridge/src/rerun_bridge/collection_adapters.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -22,9 +22,6 @@ struct rerun::CollectionAdapter<TElement, cv::Mat> {
}
};

inline rerun::Collection<rerun::TensorDimension> tensor_shape(const cv::Mat& img) {
return {
static_cast<size_t>(img.rows),
static_cast<size_t>(img.cols),
static_cast<size_t>(img.channels())};
inline rerun::WidthHeight width_height(const cv::Mat& img) {
return rerun::WidthHeight(static_cast<size_t>(img.cols), static_cast<size_t>(img.rows));
};
58 changes: 39 additions & 19 deletions rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -116,11 +116,7 @@ void log_image(
cv::Mat img = cv_bridge::toCvCopy(msg)->image;
rec.log(
entity_path,
rerun::DepthImage(
{static_cast<size_t>(img.rows), static_cast<size_t>(img.cols)},
rerun::TensorBuffer::u16(img)
)
.with_meter(1000)
rerun::DepthImage(rerun::Collection<uint16_t>(img), width_height(img)).with_meter(1000)
);
} else if (msg->encoding == "32FC1") {
cv::Mat img = cv_bridge::toCvCopy(msg)->image;
Expand All @@ -132,15 +128,14 @@ void log_image(
}
rec.log(
entity_path,
rerun::DepthImage(
{static_cast<size_t>(img.rows), static_cast<size_t>(img.cols)},
rerun::TensorBuffer::f32(img)
)
.with_meter(1.0)
rerun::DepthImage(rerun::Collection<float>(img), width_height(img)).with_meter(1.0)
);
} else {
cv::Mat img = cv_bridge::toCvCopy(msg, "rgb8")->image;
rec.log(entity_path, rerun::Image(tensor_shape(img), rerun::TensorBuffer::u8(img)));
rec.log(
entity_path,
rerun::Image::from_rgb24(rerun::Collection<uint8_t>(img), width_height(img))
Copy link
Contributor Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

I honestly don't know what is the proper way to use CollectionAdapters here. Without contstructor/casting it does not compile and I yet to find a recent example that works

Copy link
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Seems related to this issue:

But I think this code this is fine, since it borrows data that lives longer than rerun::Image

);
}
}

Expand All @@ -156,7 +151,11 @@ void log_pose_stamped(
rec.log(
entity_path,
rerun::Transform3D(
rerun::Vector3D(msg->pose.position.x, msg->pose.position.y, msg->pose.position.z),
rerun::components::Translation3D(
msg->pose.position.x,
msg->pose.position.y,
msg->pose.position.z
),
rerun::Quaternion::from_wxyz(
msg->pose.orientation.w,
msg->pose.orientation.x,
Expand Down Expand Up @@ -200,7 +199,7 @@ void log_tf_message(
rec.log(
tf_frame_to_entity_path.at(transform.child_frame_id),
rerun::Transform3D(
rerun::Vector3D(
rerun::components::Translation3D(
transform.transform.translation.x,
transform.transform.translation.y,
transform.transform.translation.z
Expand Down Expand Up @@ -228,7 +227,7 @@ void log_odometry(
rec.log(
entity_path,
rerun::Transform3D(
rerun::Vector3D(
rerun::components::Translation3D(
msg->pose.pose.position.x,
msg->pose.pose.position.y,
msg->pose.pose.position.z
Expand Down Expand Up @@ -278,7 +277,7 @@ void log_transform(
rec.log(
entity_path,
rerun::Transform3D(
rerun::Vector3D(
rerun::components::Translation3D(
msg->transform.translation.x,
msg->transform.translation.y,
msg->transform.translation.z
Expand Down Expand Up @@ -307,8 +306,8 @@ void log_point_cloud2(
// TODO(leo) if not specified, check if 2D points or 3D points
// TODO(leo) allow arbitrary color mapping

size_t x_offset, y_offset, z_offset;
bool has_x{false}, has_y{false}, has_z{false};
size_t x_offset, y_offset, z_offset, rgb_offset;
bool has_x{false}, has_y{false}, has_z{false}, has_rgb{false};

for (const auto& field : msg->fields) {
if (field.name == "x") {
Expand All @@ -332,6 +331,14 @@ void log_point_cloud2(
return;
}
has_z = true;
} else if (field.name == options.colormap_field.value_or("rgb")) {
rgb_offset = field.offset;
if (field.datatype != sensor_msgs::msg::PointField::UINT32 &&
field.datatype != sensor_msgs::msg::PointField::FLOAT32) {
rec.log(entity_path, rerun::TextLog("Only UINT32 and FLOAT32 rgb field supported"));
return;
}
has_rgb = true;
}
}

Expand All @@ -346,6 +353,10 @@ void log_point_cloud2(
std::vector<rerun::Position3D> points(msg->width * msg->height);
std::vector<rerun::Color> colors;

if (has_rgb) {
colors.reserve(msg->width * msg->height);
}

for (size_t i = 0; i < msg->height; ++i) {
for (size_t j = 0; j < msg->width; ++j) {
auto point_offset = i * msg->row_step + j * msg->point_step;
Expand All @@ -354,7 +365,12 @@ void log_point_cloud2(
std::memcpy(&position.xyz.xyz[0], &msg->data[point_offset + x_offset], sizeof(float));
std::memcpy(&position.xyz.xyz[1], &msg->data[point_offset + y_offset], sizeof(float));
std::memcpy(&position.xyz.xyz[2], &msg->data[point_offset + z_offset], sizeof(float));
points.emplace_back(std::move(position));
if (has_rgb) {
uint8_t rgba[4];
std::memcpy(&rgba, &msg->data[point_offset + rgb_offset], sizeof(uint32_t));
colors.emplace_back(rerun::Color(rgba[2], rgba[1], rgba[0]));
}
points[i * msg->width + j] = position;
}
}

Expand All @@ -372,10 +388,14 @@ void log_point_cloud2(
&msg->data[i * msg->row_step + j * msg->point_step + colormap_field.offset],
sizeof(float)
);
values.emplace_back(value);
values[i * msg->width + j] = value;
}
}
colors = colormap(values, options.colormap_min, options.colormap_max);
} else if (options.colormap == "rgb") {
if (!has_rgb) {
rec.log(entity_path, rerun::TextLog("RGB colormap specified but no RGB field present"));
}
} else if (options.colormap) {
rec.log("/", rerun::TextLog("Unsupported colormap specified: " + options.colormap.value()));
}
Expand Down
Loading