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update Rerun API V0.18.2 #16

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Merged
merged 7 commits into from
Oct 3, 2024
Merged

update Rerun API V0.18.2 #16

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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
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2 changes: 1 addition & 1 deletion rerun_bridge/CMakeLists.txt
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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
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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));
};
59 changes: 40 additions & 19 deletions rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp
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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))
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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

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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 +331,15 @@ void log_point_cloud2(
return;
}
has_z = true;
} else if (field.name == options.colormap_field.value_or("rgb")) {
if (field.datatype == sensor_msgs::msg::PointField::UINT32 ||
field.datatype == sensor_msgs::msg::PointField::FLOAT32) {
has_rgb = true;
rgb_offset = field.offset;
} else {
rec.log(entity_path, rerun::TextLog("Only UINT32 and FLOAT32 rgb field supported"));
continue;
}
}
}

Expand All @@ -346,6 +354,10 @@ 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 +366,12 @@ 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 bgra[4];
std::memcpy(&bgra, &msg->data[point_offset + rgb_offset], sizeof(uint32_t));
colors.emplace_back(rerun::Color(bgra[2], bgra[1], bgra[0]));
}
points[i * msg->width + j] = position;
}
}

Expand All @@ -372,10 +389,14 @@ 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
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