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Move transform processing modules into new, viewer-independent re_tf crate (#11409)
Co-authored-by: Copilot <[email protected]>
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‎ARCHITECTURE.md‎

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@@ -98,11 +98,11 @@ Of course, this will only take us so far. In the future we plan on caching queri
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Here is an overview of the crates included in the project:
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<picture>
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<img src="https://static.rerun.io/crates/bfe6853639d2427dd424e529b5d70950e2f61840/full.png" alt="">
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<source media="(max-width: 480px)" srcset="https://static.rerun.io/crates/bfe6853639d2427dd424e529b5d70950e2f61840/480w.png">
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<source media="(max-width: 768px)" srcset="https://static.rerun.io/crates/bfe6853639d2427dd424e529b5d70950e2f61840/768w.png">
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<source media="(max-width: 1024px)" srcset="https://static.rerun.io/crates/bfe6853639d2427dd424e529b5d70950e2f61840/1024w.png">
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<source media="(max-width: 1200px)" srcset="https://static.rerun.io/crates/bfe6853639d2427dd424e529b5d70950e2f61840/1200w.png">
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<img src="https://static.rerun.io/crates/c4945bdef6cdcf99bf37a05480d19be23bfd2b7f/full.png" alt="">
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<source media="(max-width: 480px)" srcset="https://static.rerun.io/crates/c4945bdef6cdcf99bf37a05480d19be23bfd2b7f/480w.png">
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<source media="(max-width: 768px)" srcset="https://static.rerun.io/crates/c4945bdef6cdcf99bf37a05480d19be23bfd2b7f/768w.png">
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<source media="(max-width: 1024px)" srcset="https://static.rerun.io/crates/c4945bdef6cdcf99bf37a05480d19be23bfd2b7f/1024w.png">
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<source media="(max-width: 1200px)" srcset="https://static.rerun.io/crates/c4945bdef6cdcf99bf37a05480d19be23bfd2b7f/1200w.png">
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</picture>
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<!-- !!! IMPORTANT!!!
@@ -180,6 +180,7 @@ Update instructions:
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| re_protos | Rerun remote store gRPC API types |
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| re_query | Querying data in the re_chunk_store |
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| re_server | In-memory data server |
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| re_tf | Dealing with spatial transforms & transform frames |
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| re_types | The built-in Rerun data types, component types, and archetypes. |
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### Low-level store

‎Cargo.lock‎

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"re_viewport_blueprint",
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]
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[[package]]
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name = "re_tf"
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version = "0.26.0-alpha.1+dev"
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dependencies = [
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"ahash",
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"bitflags 2.9.1",
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"glam",
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"itertools 0.14.0",
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"nohash-hasher",
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"re_chunk_store",
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"re_entity_db",
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"re_log",
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"re_log_types",
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"re_tracing",
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"re_types",
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"vec1",
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]
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[[package]]
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name = "re_time_panel"
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version = "0.26.0-alpha.1+dev"
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"re_renderer",
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"re_test_context",
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"re_test_viewport",
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"re_tf",
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"re_tracing",
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"re_types",
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"re_ui",
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"serde",
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"smallvec",
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"thiserror 1.0.69",
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"vec1",
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"web-time",
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]
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‎Cargo.toml‎

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re_datafusion = { path = "crates/store/re_datafusion", version = "=0.26.0-alpha.1", default-features = false }
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re_entity_db = { path = "crates/store/re_entity_db", version = "=0.26.0-alpha.1", default-features = false }
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re_format_arrow = { path = "crates/store/re_format_arrow", version = "=0.26.0-alpha.1", default-features = false }
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re_redap_client = { path = "crates/store/re_redap_client", version = "=0.26.0-alpha.1", default-features = false }
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re_grpc_client = { path = "crates/store/re_grpc_client", version = "=0.26.0-alpha.1", default-features = false }
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re_grpc_server = { path = "crates/store/re_grpc_server", version = "=0.26.0-alpha.1", default-features = false }
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re_protos = { path = "crates/store/re_protos", version = "=0.26.0-alpha.1", default-features = false }
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re_log_encoding = { path = "crates/store/re_log_encoding", version = "=0.26.0-alpha.1", default-features = false }
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re_log_types = { path = "crates/store/re_log_types", version = "=0.26.0-alpha.1", default-features = false }
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re_protos = { path = "crates/store/re_protos", version = "=0.26.0-alpha.1", default-features = false }
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re_query = { path = "crates/store/re_query", version = "=0.26.0-alpha.1", default-features = false }
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re_redap_client = { path = "crates/store/re_redap_client", version = "=0.26.0-alpha.1", default-features = false }
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re_server = { path = "crates/store/re_server", version = "=0.26.0-alpha.1", default-features = false }
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re_sorbet = { path = "crates/store/re_sorbet", version = "=0.26.0-alpha.1", default-features = false }
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re_tf = { path = "crates/store/re_tf", version = "=0.26.0-alpha.1", default-features = false }
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re_types = { path = "crates/store/re_types", version = "=0.26.0-alpha.1", default-features = false }
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re_types_core = { path = "crates/store/re_types_core", version = "=0.26.0-alpha.1", default-features = false }
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‎crates/store/re_tf/Cargo.toml‎

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[package]
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name = "re_tf"
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authors.workspace = true
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description = "Rerun spatial transform processing"
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edition.workspace = true
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homepage.workspace = true
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include.workspace = true
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license.workspace = true
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publish = true
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readme = "README.md"
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repository.workspace = true
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rust-version.workspace = true
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version.workspace = true
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[lints]
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workspace = true
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[package.metadata.docs.rs]
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all-features = true
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[dependencies]
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re_chunk_store.workspace = true
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re_entity_db.workspace = true # It would be nice not to depend on this, but we need this in order to do queries right now.
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re_log_types.workspace = true
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re_log.workspace = true
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re_tracing.workspace = true
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re_types = { workspace = true, features = ["glam"] }
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ahash.workspace = true
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bitflags.workspace = true
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glam.workspace = true
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itertools.workspace = true
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nohash-hasher.workspace = true
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vec1 = { workspace = true, features = ["smallvec-v1"] }

‎crates/store/re_tf/README.md‎

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# re_tf
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Part of the [`rerun`](https://github.com/rerun-io/rerun) family of crates.
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[![Latest version](https://img.shields.io/crates/v/re_tf.svg#speculative-link)](https://crates.io/crates/store/re_tf#speculative-link)
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[![Documentation](https://docs.rs/re_tf/badge.svg#speculative-link)](https://docs.rs/re_tf#speculative-link)
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![MIT](https://img.shields.io/badge/license-MIT-blue.svg)
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![Apache](https://img.shields.io/badge/license-Apache-blue.svg)
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Rerun's spatial transform processing.
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Responsible for collecting Rerun compliant spatial transform data & processing them for higher level transform related queries.
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This crate encapsulates a lot of the rules underpinning transform related datastructures defined in `re_types`.
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Maintains time dependent topological data structures that allow resolving affine transformations between different transform frames (points of reference).
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The name is borrowed from ROS's popular [`tf`](https://wiki.ros.org/tf) package as it plays a similar role.

‎crates/store/re_tf/src/lib.rs‎

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//! Rerun spatial transform processing
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mod transform_cache;
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mod transform_tree;
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pub use transform_cache::{
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CachedTransformsForTimeline, PoseTransformArchetypeMap, ResolvedPinholeProjection,
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TransformCacheStoreSubscriber, query_view_coordinates,
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query_view_coordinates_at_closest_ancestor,
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};
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pub use transform_tree::{TransformInfo, TransformTree, TwoDInThreeDTransformInfo};
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/// Returns the view coordinates used for 2D (image) views.
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///
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/// TODO(#1387): Image coordinate space should be configurable.
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pub fn image_view_coordinates() -> re_types::components::ViewCoordinates {
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re_types::archetypes::Pinhole::DEFAULT_CAMERA_XYZ
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}

‎crates/viewer/re_view_spatial/src/transform_cache.rs‎ renamed to ‎crates/store/re_tf/src/transform_cache.rs‎

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/// Store subscriber that resolves all transform components at a given entity to an affine transform.
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///
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/// It only handles resulting transforms individually to each entity, not how these transforms propagate in the tree.
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/// For transform tree propagation see [`crate::contexts::TransformTreeContext`].
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/// For transform tree propagation see [`crate::TransformTree`].
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///
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/// There are different kinds of transforms handled here:
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/// * [`archetypes::Transform3D`]
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/// Tree transforms that should propagate in the tree (via [`crate::contexts::TransformTreeContext`]).
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/// Tree transforms that should propagate in the tree (via [`crate::TransformTree`]).
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/// * [`archetypes::InstancePoses3D`]
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/// Instance poses that should be applied to the tree transforms (via [`crate::contexts::TransformTreeContext`]) but not propagate.
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/// Instance poses that should be applied to the tree transforms (via [`crate::TransformTree`]) but not propagate.
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/// * [`components::PinholeProjection`] and [`components::ViewCoordinates`]
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/// Pinhole projections & associated view coordinates used for visualizing cameras in 3D and embedding 2D in 3D
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///
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/// Makes sure the transform cache is up to date with the latest data.
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///
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/// This needs to be called once per frame prior to any transform propagation.
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/// (which is done by [`crate::contexts::TransformTreeContext`])
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/// (which is done by [`crate::TransformTree`])
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// TODO(andreas): easy optimization: apply only updates for a single timeline at a time.
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pub fn apply_all_updates(&mut self, entity_db: &EntityDb) {
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re_tracing::profile_function!();

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