simplify dependencies and update to nalgebra 0.33

strawlab · Aug 5, 2024 · 2b6c782 · 2b6c782
1 parent 46f768c
commit 2b6c782
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Showing 40 changed files with 149 additions and 152 deletions.
diff --git a/Cargo.toml b/Cargo.toml
@@ -129,6 +129,22 @@ exclude = ["led-box-firmware", "led-box-firmware-pico"]
 [profile.release]
 debug = true
 
+[workspace.dependencies]
+num-traits = "0.2"
+simba = "0.9"
+nalgebra = "0.33"
+nalgebra-mvn = "0.15"
+adskalman = "0.16"
+cam-geom = "0.15"
+opencv-ros-camera = "0.15"
+dlt = "0.13"
+lstsq = "0.6.0"
+parry2d-f64 = "0.17"
+parry3d-f64 = "0.17"
+delaunator = "0.2.0"
+ncollide2d = { package = "ncollide2d-updated", version = "0.36.3" }
+ncollide3d = { package = "ncollide3d-updated", version = "0.36.3" }
+
 [replace]
 # "tokio-threadpool:0.1.6" = {git="https://bare-git.strawlab.org/tokio.git", rev="472e64c1ea67f3976191cb1b291061faf2082735"}
-"mp4:0.14.0" = {git="https://github.com/strawlab/mp4-rust", rev="f5744a39e22adfd749ddd61f1a59d0bb60c87349"}
+"mp4:0.14.0" = { git = "https://github.com/strawlab/mp4-rust", rev = "f5744a39e22adfd749ddd61f1a59d0bb60c87349" }
diff --git a/bisection-search/Cargo.toml b/bisection-search/Cargo.toml
@@ -6,4 +6,4 @@ edition = "2021"
 rust-version = "1.76"
 
 [dependencies]
-simba = { version = "0.8", default-features = false, features = ["libm"] }
+simba = { workspace = true, default-features = false, features = ["libm"] }
diff --git a/braid-april-cal/Cargo.toml b/braid-april-cal/Cargo.toml
@@ -9,16 +9,16 @@ serde = { version = "1.0", default-features = false, features = ["derive"] }
 serde_json = "1.0"
 serde_yaml = "0.9"
 itertools = "0.10.5"
-nalgebra = "0.32"
-cam-geom = "0.14"
-opencv-ros-camera = { version = "0.14", features = ["serde-serialize"] }
+nalgebra = { workspace = true }
+cam-geom = { workspace = true }
+opencv-ros-camera = { workspace = true, features = ["serde-serialize"] }
 chrono = { version = "0.4.23", default-features = false, features = [
     "serde",
     "clock",
     "std",
     "wasmbind",
 ] }
-dlt = { version = "0.12", features = ["serde-serialize"] }
+dlt = { workspace = true, features = ["default", "serde-serialize"] }
 argmin = { version = "0.8.1", features = [
     "wasm-bindgen",
 ], default-features = false }

diff --git a/braid-april-cal/flytrax-apriltags-calibration/Cargo.toml b/braid-april-cal/flytrax-apriltags-calibration/Cargo.toml
@@ -13,7 +13,7 @@ image = { version = "0.24.2", default-features = false, features = [
     "jpeg",
 ] }
 machine-vision-formats = "0.1"
-nalgebra = "0.32"
+nalgebra = { workspace = true }
 resvg = "0.19"
 serde_yaml = "0.9.21"
 tagger = "4.0"
@@ -28,7 +28,7 @@ convert-image = { path = "../../convert-image" }
 flydra-types = { path = "../../flydra-types" }
 flytrax-io = { path = "../../strand-cam/flytrax-io" }
 mvg = { path = "../../mvg" }
-opencv-ros-camera = { version = "0.14", features = ["serde-serialize"] }
+opencv-ros-camera = { workspace = true, features = ["serde-serialize"] }
 env_logger = "0.10.0"
 
 [dev-dependencies]

diff --git a/braid-process-video/Cargo.toml b/braid-process-video/Cargo.toml
@@ -32,7 +32,7 @@ regex = "1"
 futures = "0.3"
 csv = "1.1"
 tracing-panic = "0.1.1"
-nalgebra = "0.32"
+nalgebra = { workspace = true }
 indicatif = "0.17"
 
 channellib = { path = "../channellib" }

diff --git a/braidz-export-rrd/Cargo.toml b/braidz-export-rrd/Cargo.toml
@@ -13,9 +13,9 @@ color-eyre = "0.6.2"
 
 tracing = "0.1.40"
 rerun = "0.17.0"
-opencv-ros-camera = "0.14.1"
-cam-geom = "0.14.1"
-nalgebra = "0.32.4"
+opencv-ros-camera = { workspace = true }
+cam-geom = { workspace = true }
+nalgebra = { workspace = true }
 regex = "1.10.3"
 ndarray = "0.15.6"
 machine-vision-formats = "0.1.1"

diff --git a/camcal/Cargo.toml b/camcal/Cargo.toml
@@ -7,8 +7,8 @@ edition = "2021"
 rust-version = "1.76"
 
 [dependencies]
-nalgebra = "0.32"
-opencv-ros-camera = "0.14"
+nalgebra = { workspace = true }
+opencv-ros-camera = { workspace = true }
 serde = { version = "1.0", features = ["derive"] }
 
 opencv-calibrate = { path = "../opencv-calibrate" }
diff --git a/fastimage/Cargo.toml b/fastimage/Cargo.toml
@@ -8,7 +8,7 @@ rust-version = "1.76"
 [dependencies]
 ipp-sys = "0.4.4"
 thiserror = "1.0"
-num-traits = "0.2"
+num-traits = { workspace = true }
 
 [dev-dependencies]
 itertools = "0.8"

diff --git a/flydra-feature-detector/Cargo.toml b/flydra-feature-detector/Cargo.toml
@@ -12,15 +12,15 @@ thiserror = "1.0.33"
 machine-vision-formats = "0.1"
 timestamped-frame = { path = "../timestamped-frame" }
 basic-frame = { path = "../basic-frame" }
-num-traits = "0.2"
+num-traits = { workspace = true }
 thread-control = "0.1"
 cast = "0.2.2"
 serde = { version = "1.0", features = ["derive"] }
 serde_yaml = "0.9"
 tokio = { version = "1.0.1", default-features = false, features = ["rt"] }
 stream-cancel = "0.8"
-nalgebra = "0.32"
-parry2d-f64 = "0.13.5"
+nalgebra = { workspace = true }
+parry2d-f64 = { workspace = true, features = ["default"] }
 ipp-sys = { version = "0.4.4", optional = true }
 
 fastimage = { path = "../fastimage", optional = true }

diff --git a/flydra-mvg/Cargo.toml b/flydra-mvg/Cargo.toml
@@ -7,14 +7,13 @@ rust-version = "1.76"
 
 [dependencies]
 log = "0.4"
-num-traits = "0.2"
-nalgebra = { version = "0.32", features = ["serde-serialize"] }
-parry3d-f64 = "0.13.5"
-alga = "0.9"
+num-traits = { workspace = true }
+nalgebra = { workspace = true, features = ["serde-serialize"] }
+parry3d-f64 = { workspace = true, features = ["default"] }
 serde = { version = "1.0", features = ["derive"] }
 serde-xml-rs = "0.5"                                                     # TODO: switch to https://crates.io/crates/quick-xml
-cam-geom = { version = "0.14", features = ["serde-serialize"] }
-opencv-ros-camera = { version = "0.14", features = ["serde-serialize"] }
+cam-geom = { workspace = true, features = ["serde-serialize"] }
+opencv-ros-camera = { workspace = true, features = ["serde-serialize"] }
 
 mvg = { path = "../mvg" }
 refraction = { path = "../refraction" }

diff --git a/flydra-mvg/src/lib.rs b/flydra-mvg/src/lib.rs
@@ -332,7 +332,7 @@ impl<R: RealField + Copy + Default + serde::Serialize> MultiCamera<R> {
 
     pub fn project_3d_to_distorted_pixel(&self, pt3d: &PointWorldFrame<R>) -> DistortedPixel<R>
     where
-        DefaultAllocator: Allocator<R, U1, U2>,
+        DefaultAllocator: Allocator<U1, U2>,
     {
         let undistorted = self.project_3d_to_pixel(pt3d);
         let u2: opencv_ros_camera::UndistortedPixels<R, U1, _> = (&undistorted).into();

diff --git a/flydra-types/Cargo.toml b/flydra-types/Cargo.toml
@@ -23,7 +23,7 @@ bytes = { version = "1.0", optional = true }
 bitflags = "1.0"
 ordered-float = { version = "3.0.0", features = ["serde"] }
 static_assertions = "1.1.0"
-nalgebra = { version = "0.32", features = ["serde-serialize"] }
+nalgebra = { workspace = true, features = ["serde-serialize"] }
 num-integer = "0.1"
 http = "1"
 if-addrs = { version = "0.11.0", optional = true }

diff --git a/flydra2/Cargo.toml b/flydra2/Cargo.toml
@@ -30,9 +30,8 @@ serde_json = "1.0.29"
 serde_yaml = "0.9"
 toml = "0.5"
 dyn-clone = "1.0.11"
-nalgebra = { version = "0.32", features = ["serde-serialize"] }
-parry3d-f64 = "0.13.5"
-alga = "0.9"
+nalgebra = { workspace = true, features = ["serde-serialize"] }
+parry3d-f64 = { workspace = true, features = ["default"] }
 configure = "0.1.1"
 itertools = "0.8"
 axum = "0.7.4"
@@ -60,9 +59,9 @@ hyper-util = { version = "0.1.1", features = [
 http-body-util = "0.1.0"
 bytes = "1.5.0"
 http-body = "1.0.0"
-adskalman = "0.15"
+adskalman = { workspace = true }
 pretty-print-nalgebra = "0.1.0"
-nalgebra-mvn = "0.14"
+nalgebra-mvn = { workspace = true }
 iana-time-zone = "0.1"
 tower-http = { version = "0.5.0", features = ["fs"], optional = true }
 tower-serve-static = { version = "0.1", optional = true }

diff --git a/flydra2/src/flydra2.rs b/flydra2/src/flydra2.rs
@@ -20,12 +20,11 @@ use hdrhistogram::{
 use libflate::finish::AutoFinishUnchecked;
 use libflate::gzip::Encoder;
 
-use nalgebra::core::dimension::{U1, U2, U3, U6};
-use nalgebra::{OMatrix, OVector, Point3, Vector6};
-
-use nalgebra::allocator::Allocator;
-use nalgebra::core::dimension::DimMin;
-use nalgebra::{DefaultAllocator, RealField};
+use nalgebra::{
+    allocator::Allocator,
+    dimension::{DimMin, U1, U2, U3, U6},
+    DefaultAllocator, OMatrix, OVector, Point3, RealField, Vector6,
+};
 
 #[allow(unused_imports)]
 use mvg::{DistortedPixel, PointWorldFrame, PointWorldFrameWithSumReprojError};
@@ -137,13 +136,12 @@ where
 
 impl<R> adskalman::ObservationModel<R, U6, U2> for CameraObservationModel<R>
 where
-    DefaultAllocator: Allocator<R, U6, U6>,
-    DefaultAllocator: Allocator<R, U6>,
-    DefaultAllocator: Allocator<R, U2, U6>,
-    DefaultAllocator: Allocator<R, U6, U2>,
-    DefaultAllocator: Allocator<R, U2, U2>,
-    DefaultAllocator: Allocator<R, U2>,
-    DefaultAllocator: Allocator<(usize, usize), U2>,
+    DefaultAllocator: Allocator<U6, U6>,
+    DefaultAllocator: Allocator<U6>,
+    DefaultAllocator: Allocator<U2, U6>,
+    DefaultAllocator: Allocator<U6, U2>,
+    DefaultAllocator: Allocator<U2, U2>,
+    DefaultAllocator: Allocator<U2>,
     U2: DimMin<U2, Output = U2>,
     R: RealField + Copy + Default + serde::Serialize,
 {

diff --git a/flytrax-csv-to-braidz/Cargo.toml b/flytrax-csv-to-braidz/Cargo.toml
@@ -20,8 +20,7 @@ serde_derive = "1.0.79"
 serde_json = "1.0.29"
 serde_yaml = "0.9"
 toml = "0.5"
-nalgebra = { version = "0.32", features = ["serde-serialize"] }
-alga = "0.9"
+nalgebra = { workspace = true, features = ["serde-serialize"] }
 configure = "0.1.1"
 itertools = "0.8"
 lazy_static = "1.4.0"
@@ -33,7 +32,7 @@ image = { version = "0.24.2", default-features = false, features = [
     "jpeg",
     "png",
 ] }
-opencv-ros-camera = { version = "0.14", features = ["serde-serialize"] }
+opencv-ros-camera = { workspace = true, features = ["serde-serialize"] }
 
 datetime-conversion = { path = "../datetime-conversion" }
 env-tracing-logger = { path = "../env-tracing-logger" }

diff --git a/freemovr-calibration/Cargo.toml b/freemovr-calibration/Cargo.toml
@@ -13,14 +13,11 @@ serde = "1.0"
 serde_derive = "1.0"
 serde_yaml = "0.9"
 serde_json = "1.0"
-alga = "0.9"
-nalgebra = "0.32"
-ncollide2d = { package = "ncollide2d-updated", version = "0.35.0" }
-ncollide3d = { package = "ncollide3d-updated", version = "0.35.0", features = [
-    "serde-serialize",
-] }
-cam-geom = "0.14"
-opencv-ros-camera = "0.14"
+nalgebra = { workspace = true }
+ncollide2d = { workspace = true, features = ["default"] }
+ncollide3d = { workspace = true, features = ["default", "serde-serialize"] }
+cam-geom = { workspace = true }
+opencv-ros-camera = { workspace = true }
 genmesh = "0.6"
 obj = { version = "0.10", features = ["genmesh"] }
 byteorder = "1.2.2"
@@ -33,7 +30,7 @@ chrono = { version = "0.4.23", default-features = false, features = [
     "wasmbind",
 ] }
 
-dlt = "0.12"
+dlt = { workspace = true, features = ["default"] }
 mvg = { path = "../mvg", features = ["serde-serialize"] }
 camcal = { path = "../camcal", optional = true }
 opencv-calibrate = { path = "../opencv-calibrate", optional = true }

diff --git a/freemovr-calibration/freemovr-calibration-cli/Cargo.toml b/freemovr-calibration/freemovr-calibration-cli/Cargo.toml
@@ -15,10 +15,10 @@ anyhow = "1"
 log = "0.4"
 env_logger = "0.10"
 clap = { version = "4.3.4", features = ["derive"] }
-nalgebra = "0.32"
-ncollide2d = { package = "ncollide2d-updated", version = "0.35.0" }
-cam-geom = "0.14"
-opencv-ros-camera = "0.14"
+nalgebra = { workspace = true }
+ncollide2d = { workspace = true, features = ["default"] }
+cam-geom = { workspace = true }
+opencv-ros-camera = { workspace = true }
 chrono = { version = "0.4.23", default-features = false, features = [
     "clock",
     "std",

diff --git a/freemovr-calibration/freemovr-calibration-webapp/Cargo.toml b/freemovr-calibration/freemovr-calibration-webapp/Cargo.toml
@@ -31,9 +31,7 @@ chrono = { version = "0.4.23", default-features = false, features = [
     "std",
     "wasmbind",
 ] }
-ncollide3d = { package = "ncollide3d-updated", version = "0.35.0", features = [
-    "serde-serialize",
-] }
+ncollide3d = { workspace = true, features = ["default", "serde-serialize"] }
 
 mvg = { path = "../../mvg", features = ["serde-serialize"] }
 enum-iter = { path = "../../enum-iter" }

diff --git a/freemovr-calibration/ncollide-geom/Cargo.toml b/freemovr-calibration/ncollide-geom/Cargo.toml
@@ -6,6 +6,6 @@ edition = "2021"
 rust-version = "1.76"
 
 [dependencies]
-ncollide2d = { package = "ncollide2d-updated", version = "0.35.0" }
-delaunator = "0.2.0"
-nalgebra = "0.32"
+ncollide2d = { workspace = true, features = ["default"]}
+delaunator = { workspace = true }
+nalgebra = { workspace = true }
diff --git a/media-utils/video2rrd/Cargo.toml b/media-utils/video2rrd/Cargo.toml
@@ -11,9 +11,9 @@ color-eyre = "0.6.2"
 
 tracing = "0.1.40"
 rerun = "0.17.0"
-opencv-ros-camera = "0.14.1"
-cam-geom = "0.14.1"
-nalgebra = "0.32.4"
+opencv-ros-camera = { workspace = true }
+cam-geom = { workspace = true }
+nalgebra = { workspace = true }
 regex = "1.10.3"
 ndarray = "0.15.6"
 machine-vision-formats = "0.1.1"

diff --git a/mvg/Cargo.toml b/mvg/Cargo.toml
@@ -6,26 +6,26 @@ edition = "2021"
 rust-version = "1.76"
 
 [dependencies]
-nalgebra = { version = "0.32", features = ["serde-serialize"] }
-num-traits = "0.2"
+nalgebra = { workspace = true, features = ["serde-serialize"] }
+simba = { workspace = true, optional = true }
+num-traits = { workspace = true }
 serde = { version = "1.0", features = ["derive"] }
 serde_yaml = "0.9"
 serde_json = "1.0"
 thiserror = "1.0.33"
-alga = "0.9"
-cam-geom = { version = "0.14", features = ["serde-serialize"] }
-opencv-ros-camera = { version = "0.14", features = ["serde-serialize"] }
+cam-geom = { workspace = true, features = ["serde-serialize"] }
+opencv-ros-camera = { workspace = true, features = ["serde-serialize"] }
 rerun = { version = "0.17", optional = true }
 glam = { version = "0.22", optional = true }
 
 [dev-dependencies]
 num-iter = "0.1"
 approx = "0.5"
-dlt = "0.12"
+dlt = { workspace = true }
 color-eyre = "0.6.2"
 
 [features]
 serde-serialize = []
 backtrace = []
 
-rerun-io = ["rerun", "glam"]
+rerun-io = ["rerun", "glam", "simba"]
diff --git a/mvg/mvg-util/Cargo.toml b/mvg/mvg-util/Cargo.toml
@@ -5,10 +5,10 @@ authors = ["Andrew Straw <[email protected]>"]
 edition = "2021"
 
 [dependencies]
-mvg = {path=".."}
-flydra-mvg = {path="../../flydra-mvg"}
+mvg = { path = ".." }
+flydra-mvg = { path = "../../flydra-mvg" }
 clap = { version = "4.3.4", features = ["derive"] }
-nalgebra = "0.32"
+nalgebra = { workspace = true }
 pretty-print-nalgebra = "0.1.0"
 
 [features]

diff --git a/mvg/src/camera.rs b/mvg/src/camera.rs
@@ -426,8 +426,8 @@ impl<R: RealField + Copy> Camera<R> {
         dist: R,
     ) -> PointWorldFrame<R>
     where
-        DefaultAllocator: Allocator<R, U1, U2>,
-        DefaultAllocator: Allocator<R, U1, U3>,
+        DefaultAllocator: Allocator<U1, U2>,
+        DefaultAllocator: Allocator<U1, U3>,
     {
         let ray_cam = self.intrinsics().undistorted_pixel_to_camera(&pt2d.into());
         let pt_cam = ray_cam.point_on_ray_at_distance(dist);

diff --git a/mvg/src/intrinsics.rs b/mvg/src/intrinsics.rs
@@ -55,7 +55,7 @@ mod tests {
     #[test]
     fn test_mirror()
     where
-        DefaultAllocator: Allocator<f64, U7, U3>,
+        DefaultAllocator: Allocator<U7, U3>,
     {
         use cam_geom::{IntrinsicParameters, Points};
         use nalgebra::{OMatrix, U3, U7};