update to nalgebra 0.34

Author: astraw

Cargo.toml

@@ -134,7 +134,7 @@ exclude = [
 debug = true
 
 [workspace.dependencies]
-adskalman = "0.16"
+adskalman = "0.17"
 anyhow = "1"
 approx = "0.5"
 async-change-tracker = "0.3.4"
@@ -143,7 +143,7 @@ axum-token-auth = "0.2.0"
 base64 = "0.12"
 byteorder = "1"
 bytes = "1.6"
-cam-geom = { version = "0.15", features = ["serde-serialize"] }
+cam-geom = { version = "0.16", features = ["serde-serialize"] }
 camino = "1.1.9"
 cast = { version = "0.3", features = ["std"] }
 chrono = { version = "0.4", features = ["serde"] }
@@ -153,7 +153,7 @@ cookie_store = "0.21.0"
 csv = "1.1"
 convert-image = "0.1.3"
 delaunator = "1.0"
-dlt = "0.13"
+dlt = "0.14"
 dotenv = "0.15.0"
 dyn-clone = "1.0.11"
 env_logger = "0.11"
@@ -197,27 +197,27 @@ js-sys = "0.3.77"
 json-lines = { version = "0.1.0", features = ["codec"] }
 lazy_static = "1.4"
 less-avc = "0.1.4"
-levenberg-marquardt = "0.14.0"
+levenberg-marquardt = "0.15"
 libc = "0.2"
 libflate = "2.1.0"
 log = "0.4"
-lstsq = "0.6.0"
+lstsq = "0.7"
 machine-vision-formats = { version = "0.1.4", default-features = false }
 memchr = "2.7.2"
 mime = "0.3.17"
 mp4 = { git = "https://github.com/strawlab/mp4-rust", rev = "e6a68f68d3f662039ab28b2cc20c4c16134f2a8c" }
-nalgebra = { version = "0.33", features = ["serde-serialize"] }
-nalgebra-mvn = "0.15"
-ncollide2d = { package = "ncollide2d-updated", version = "0.36.3" }
-ncollide3d = { package = "ncollide3d-updated", version = "0.36.3" }
+nalgebra = { version = "0.34", features = ["serde-serialize"] }
+nalgebra-mvn = "0.16"
+ncollide2d = { package = "ncollide2d-updated", version = "0.37.1" }
+ncollide3d = { package = "ncollide3d-updated", version = "0.37.1" }
 num-iter = "0.1"
 num-traits = "0.2"
 obj = { version = "0.10", features = ["genmesh"] }
-opencv-ros-camera = { version = "0.15.1", features = ["serde-serialize"] }
+opencv-ros-camera = { version = "0.16", features = ["serde-serialize"] }
 openh264 = "0.8.0"
 ordered-float = { version = "4.6", features = ["serde"] }
-parry2d-f64 = "0.18"
-parry3d-f64 = "0.18"
+parry2d-f64 = "0.23"
+parry3d-f64 = "0.23"
 pin-project = "1.0.11"
 preferences-serde1 = "2.0.0"
 pretty-print-nalgebra = "0.1.0"

geometry/braid-april-cal/src/lib.rs

@@ -350,12 +350,18 @@ fn run_sqpnp<'a>(
     if solver.solve(&p3ds, &p2ds, None) {
         let solution = solver.best_solution().unwrap();
         let r = solution.rotation_matrix();
-        let r: nalgebra::SMatrix<f64, 3, 3> = r.as_dmat3().into();
+        // Convert from glam 0.29 (nalgebra 0.33) to nalgebra 0.34. Waiting for
+        // https://github.com/ricky26/sqpnp-rs/pull/2
+        let r = {
+            let row_data = r.as_dmat3().transpose().to_cols_array();
+            nalgebra::SMatrix::<f64, 3, 3>::from_row_slice(&row_data)
+        };
+        // let r: nalgebra::SMatrix<f64, 3, 3> = r.as_dmat3().into();
         let t = solution.translation();
 
         let extrin = {
             let rotation = nalgebra::UnitQuaternion::from_rotation_matrix(
-                &nalgebra::Rotation3::from_matrix_unchecked(r),
+                &nalgebra::Rotation3::from_matrix(&r),
             );
             let translation = nalgebra::Translation::from(nalgebra::Vector3::new(
                 t.x as f64, t.y as f64, t.z as f64,

geometry/braid-mvg/src/pymvg_support.rs

@@ -113,10 +113,10 @@ mod array_of_arrays {
             .as_array()
             .ok_or_else(|| serde::de::Error::custom("expected array"))?;
 
-        if rows.len() != ROWS::USIZE {
+        if rows.len() != ROWS::DIM {
             return Err(serde::de::Error::custom(format!(
                 "expected {} rows, found {}",
-                ROWS::USIZE,
+                ROWS::DIM,
                 rows.len()
             )));
         }