braidz-export-rrd: renaming

strawlab · Mar 28, 2024 · 907181b · 907181b
1 parent aa131ec
commit 907181b
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Showing 2 changed files with 16 additions and 12 deletions.
diff --git a/braidz-export-rrd/src/main.rs b/braidz-export-rrd/src/main.rs
@@ -5,7 +5,7 @@ use color_eyre::eyre::{self as anyhow, WrapErr};
 use frame_source::{ImageData, Timestamp};
 use machine_vision_formats::{pixel_format, PixFmt};
 use mp4_writer::Mp4Writer;
-use mvg::rerun_io::cam_geom_to_rr_pinhole_archetype as to_pinhole;
+use mvg::rerun_io::{cam_geom_to_rr_pinhole_archetype as to_pinhole, AsRerunTransform3D};
 use ndarray::Array;
 use rayon::prelude::*;
 use std::{collections::BTreeMap, path::PathBuf};
@@ -116,7 +116,7 @@ impl OfflineBraidzRerunLogger {
         let camn = self.camid2camn.get(cam_name).unwrap();
         self.rec.log_timeless(
             format!("world/camera/{cam_name}"),
-            &cam.rr_transform3d_archetype(),
+            &cam.extrinsics().as_rerun_transform3d().into(),
         )?;
 
         let base_path = format!("world/camera/{cam_name}");
@@ -382,15 +382,15 @@ impl OfflineBraidzRerunLogger {
             if log_reprojected_2d {
                 for (_cam_name, cam_data) in self.by_camname.iter() {
                     // TODO: how to annotate this with row.obj_id?
-                    let cam = &cam_data.calibration;
+                    let cam_cal = &cam_data.calibration;
                     let pt3d = mvg::PointWorldFrame {
                         coords: nalgebra::Point3::new(row.x, row.y, row.z),
                     };
                     let arch = if cam_data.image_is_undistorted {
-                        let pt2d = cam.project_3d_to_pixel(&pt3d).coords;
+                        let pt2d = cam_cal.project_3d_to_pixel(&pt3d).coords;
                         rerun::Points2D::new([(pt2d[0] as f32, pt2d[1] as f32)])
                     } else {
-                        let pt2d = cam.project_3d_to_distorted_pixel(&pt3d).coords;
+                        let pt2d = cam_cal.project_3d_to_distorted_pixel(&pt3d).coords;
                         rerun::Points2D::new([(pt2d[0] as f32, pt2d[1] as f32)])
                     };
                     let ent_path = &cam_data.image_ent_path;

diff --git a/mvg/src/rerun_io.rs b/mvg/src/rerun_io.rs
@@ -55,7 +55,7 @@ impl<T: RealField> ToR<T> for f64 {
 
 fn rr_translation_and_mat3<R: RealField>(
     extrinsics: &cam_geom::ExtrinsicParameters<R>,
-) -> rerun::datatypes::TranslationAndMat3x3 {
+) -> rerun::TranslationAndMat3x3 {
     let t = extrinsics.camcenter();
     let translation = Some(rerun::Vec3D([t[0].f32(), t[1].f32(), t[2].f32()]));
     let rot = extrinsics.rotation();
@@ -68,18 +68,22 @@ fn rr_translation_and_mat3<R: RealField>(
         }
     }
     let mat3x3 = Some(rerun::Mat3x3(col_major));
-    rerun::datatypes::TranslationAndMat3x3 {
+    rerun::TranslationAndMat3x3 {
         translation,
         mat3x3,
         from_parent: false,
     }
 }
 
-impl<R: RealField + Copy> crate::Camera<R> {
-    /// return a [rerun::archetypes::Transform3D]
-    pub fn rr_transform3d_archetype(&self) -> rerun::archetypes::Transform3D {
-        let transform = rr_translation_and_mat3(self.extrinsics()).into();
-        rerun::archetypes::Transform3D { transform }
+pub trait AsRerunTransform3D {
+    fn as_rerun_transform3d(&self) -> impl Into<rerun::Transform3D>;
+}
+
+impl AsRerunTransform3D for cam_geom::ExtrinsicParameters<f64> {
+    fn as_rerun_transform3d(&self) -> impl Into<rerun::Transform3D> {
+        rerun::Transform3D {
+            transform: rr_translation_and_mat3(self).into(),
+        }
     }
 }