Merge pull request #31 from mxochicale/30-rerun-examples

Rerun examples

.gitignore

@@ -4,6 +4,15 @@
 ## temporal vim files
 *.sw*
 
+##temporal files for rerun
+blaze_face_short_range.tflite
+face_landmarker.task
+.pixi
+noetic_ws
+pixi.lock
+indoor_forward_3_snapdragon_with_gt.bag
+
+
 ## files for html-slides
 _site/
 **/*.jekyll-cache

rerun/examples/cpp-example-ros-bridge/README.md

@@ -0,0 +1,33 @@
+# cpp-example-ros-bridge
+
+
+## Installation
+```
+curl -fsSL https://pixi.sh/install.sh | bash
+echo 'eval "$(pixi completion --shell bash)"' >> ~/.bashrc
+#And then restart the shell or source the shell config file.
+#rm ~/.pixi/bin/pixi
+
+git clone [email protected]:rerun-io/cpp-example-ros-bridge.git
+mv pixi.toml  ..
+mv rerun_bridge/ ..
+rm -rf cpp-example-ros-bridge/
+
+$HOME/.pixi/bin/./pixi run example
+```
+
+## some logs
+```
+$HOME/.pixi/bin/./pixi run example
+✨ Pixi task (default): mkdir -p noetic_ws/src && ln -sfn $(pwd)/rerun_bridge noetic_ws/src/rerun_bridge
+⠉ updating packages in 'default'
+  ⠁ downloading          [00:01:18] [━───────────────────]   21/542  ogre (+49)                                                                                                                                  ⠁ linking              [00:01:18] [━───────────────────]   21/542                                
+```
+
+
+## References
+https://github.com/rerun-io/cpp-example-ros-bridge?tab=readme-ov-file 
+https://github.com/prefix-dev/pixi/
+
+
+

rerun/examples/cpp-example-ros-bridge/pixi.toml

@@ -0,0 +1,25 @@
+[project]
+name = "rerun_cpp_example_ros"
+authors = ["rerun.io <[email protected]>"]
+channels = ["robostack-staging", "conda-forge"]
+description = "Use the Rerun C++ SDK together with ROS"
+homepage = "https://rerun.io"
+license = "Apache-2.0"
+platforms = ["linux-64"]
+repository = "https://github.com/rerun-io/cpp-example-ros"
+version = "0.1.0"
+
+[tasks]
+ws = { cmd = "mkdir -p noetic_ws/src && ln -sfn $(pwd)/rerun_bridge noetic_ws/src/rerun_bridge", cwd = "." }
+build = { cmd = "ls && catkin_make --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON", depends_on = ["ws"], cwd = "noetic_ws"}
+example_data = { cmd = "curl -L -C - -O http://rpg.ifi.uzh.ch/datasets/uzh-fpv-newer-versions/v3/indoor_forward_3_snapdragon_with_gt.bag", depends_on=["ws"], cwd = "noetic_ws/src/rerun_bridge"}
+example = { cmd = "bash -c 'source ./devel/setup.bash && roslaunch rerun_bridge example.launch'", depends_on = [ "build", "example_data", "ws"], cwd = "noetic_ws" }
+
+[dependencies]
+compilers = ">=1.7.0,<1.8"
+opencv = ">=4.9.0,<4.10"
+ros-noetic-catkin = ">=0.8.10,<0.9"
+ros-noetic-desktop = ">=1.5.0,<1.6"
+ros-noetic-rosbag = ">=1.16.0,<1.17"
+yaml-cpp = ">=0.8.0,<0.9"
+rerun-sdk = ">=0.13.0,<0.14"

rerun/examples/cpp-example-ros-bridge/rerun_bridge/CMakeLists.txt

@@ -0,0 +1,38 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(rerun_bridge)
+
+if(NOT DEFINED CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 17)
+endif()
+
+find_package(catkin REQUIRED COMPONENTS roscpp sensor_msgs nav_msgs cv_bridge)
+find_package(OpenCV REQUIRED)
+find_package(yaml-cpp REQUIRED)
+
+include(FetchContent)
+FetchContent_Declare(rerun_sdk URL https://github.com/rerun-io/rerun/releases/download/0.13.0/rerun_cpp_sdk.zip)
+FetchContent_MakeAvailable(rerun_sdk)
+
+include_directories(
+  include
+  ${YAML_CPP_INCLUDE_DIRS}
+  ${catkin_INCLUDE_DIRS}
+)
+
+catkin_package(
+   INCLUDE_DIRS include
+   LIBRARIES ${PROJECT_NAME}
+   CATKIN_DEPENDS roscpp sensor_msgs nav_msgs cv_bridge
+   DEPENDS opencv yaml-cpp
+ )
+
+add_library(${PROJECT_NAME} src/rerun_bridge/rerun_ros_interface.cpp)
+add_executable(visualizer src/rerun_bridge/visualizer_node.cpp)
+
+add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+add_dependencies(visualizer ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${OpenCV_LIBS} ${YAML_CPP_LIBRARIES} rerun_sdk)
+target_link_libraries(visualizer ${PROJECT_NAME} ${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES} rerun_sdk)
+
+install(TARGETS visualizer DESTINATION bin)

rerun/examples/cpp-example-ros-bridge/rerun_bridge/include/rerun_bridge/rerun_ros_interface.hpp

@@ -0,0 +1,28 @@
+#pragma once
+
+#include <geometry_msgs/PoseStamped.h>
+#include <nav_msgs/Odometry.h>
+#include <sensor_msgs/Image.h>
+#include <sensor_msgs/Imu.h>
+
+#include <rerun.hpp>
+
+void log_imu(
+    const rerun::RecordingStream& rec, const std::string& entity_path,
+    const sensor_msgs::Imu::ConstPtr& msg
+);
+
+void log_image(
+    const rerun::RecordingStream& rec, const std::string& entity_path,
+    const sensor_msgs::Image::ConstPtr& msg
+);
+
+void log_pose_stamped(
+    const rerun::RecordingStream& rec, const std::string& entity_path,
+    const geometry_msgs::PoseStamped::ConstPtr& msg
+);
+
+void log_odometry(
+    const rerun::RecordingStream& rec, const std::string& entity_path,
+    const nav_msgs::Odometry::ConstPtr& msg
+);

rerun/examples/cpp-example-ros-bridge/rerun_bridge/launch/example.launch

@@ -0,0 +1,11 @@
+<launch>
+  <!-- Publishes the voxel grid to rviz for display -->
+  <node pkg="rosbag" type="play" name="player" args="-s 11.0 -u 47.0 -r 2.0 $(find rerun_bridge)/indoor_forward_3_snapdragon_with_gt.bag">
+  </node>
+
+  <!-- Run the logger node -->
+  <node name="rerun_bridge_node" pkg="rerun_bridge" type="visualizer" output="screen">
+    <rosparam param="yaml_path" subst_value="True">$(find rerun_bridge)/launch/example_params.yaml</rosparam>
+  </node>
+
+</launch>

rerun/examples/cpp-example-ros-bridge/rerun_bridge/launch/example_params.yaml

@@ -0,0 +1,30 @@
+topic_to_entity_path:
+  /snappy_cam/stereo_l: /groundtruth/pose/snappy_cam/stereo_l
+  /snappy_cam/stereo_r: /groundtruth/pose/snappy_cam/stereo_r
+extra_transform3ds:
+  - entity_path: /groundtruth/pose/snappy_cam/stereo_l
+    transform: [
+      -0.028228787368606456, -0.999601488301944, 1.2175294828553618e-05, 0.02172388268966517, 
+      0.014401251861751119, -0.00041887083271471837, -0.9998962088597202, -6.605455433829172e-05,
+      0.999497743623523, -0.028225682131089447, 0.014407337010089172, -0.00048817563004522853,
+      0.0, 0.0, 0.0, 1.0
+    ]
+    from_parent: true
+  - entity_path: /groundtruth/pose/snappy_cam/stereo_r
+    transform: [
+      -0.011823057800830705, -0.9998701444077991, -0.010950325390841398, -0.057904961033265645,
+      0.011552991631909482, 0.01081376681432078, -0.9998747875767439, 0.00043766687615362694,
+      0.9998633625093938, -0.011948086424720228, 0.011423639621249038, -0.00039944945687402214,
+      0.0, 0.0, 0.0, 1.0
+    ]
+    from_parent: true
+extra_pinholes:
+  - entity_path: /groundtruth/pose/snappy_cam/stereo_l
+    height: 480
+    width: 640
+    image_from_camera: [278.66723066149086, 0, 319.75221200593535, 0, 278.48991409740296, 241.96858910358173, 0, 0, 1]
+  - entity_path: /groundtruth/pose/snappy_cam/stereo_r
+    height: 480
+    width: 640
+    image_from_camera: [277.61640629770613, 0, 314.8944703346039, 0, 277.63749695723294, 236.04310050462587, 0, 0, 1]
+

rerun/examples/cpp-example-ros-bridge/rerun_bridge/package.xml

@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>rerun_bridge</name>
+  <version>0.1.0</version>
+  <description>The rerun_bridge package</description>
+  <maintainer email="[email protected]">rerun.io</maintainer>
+  <license>Apache-2.0</license>
+  <depend>roscpp</depend>
+  <depend>sensor_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>cv_bridge</depend>
+  <depend>geometry_msgs</depend>
+  <depend>yaml-cpp</depend>
+  <buildtool_depend>catkin</buildtool_depend>
+</package>

rerun/examples/cpp-example-ros-bridge/rerun_bridge/src/rerun_bridge/collection_adapters.hpp

@@ -0,0 +1,32 @@
+#pragma once
+
+#include <opencv2/opencv.hpp>
+#include <rerun.hpp>
+
+// Adapters so we can borrow an OpenCV image easily into Rerun images without copying:
+template <>
+struct rerun::CollectionAdapter<uint8_t, cv::Mat> {
+    /// Borrow for non-temporary.
+    Collection<uint8_t> operator()(const cv::Mat& img) {
+        assert(
+            "OpenCV matrix was expected have bit depth CV_U8" && CV_MAT_DEPTH(img.type()) == CV_8U
+        );
+
+        return Collection<uint8_t>::borrow(img.data, img.total() * img.channels());
+    }
+
+    // Do a full copy for temporaries (otherwise the data might be deleted when the temporary is destroyed).
+    Collection<uint8_t> operator()(cv::Mat&& img) {
+        assert(
+            "OpenCV matrix was expected have bit depth CV_U8" && CV_MAT_DEPTH(img.type()) == CV_8U
+        );
+
+        std::vector<uint8_t> img_vec(img.total() * img.channels());
+        img_vec.assign(img.data, img.data + img.total() * img.channels());
+        return Collection<uint8_t>::take_ownership(std::move(img_vec));
+    }
+};
+
+inline rerun::Collection<rerun::TensorDimension> tensor_shape(const cv::Mat& img) {
+    return {img.rows, img.cols, img.channels()};
+};

rerun/examples/cpp-example-ros-bridge/rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp

@@ -0,0 +1,86 @@
+#include <cv_bridge/cv_bridge.h>
+#include <geometry_msgs/PoseStamped.h>
+#include <sensor_msgs/Image.h>
+#include <sensor_msgs/Imu.h>
+#include <nav_msgs/Odometry.h>
+#include <rerun.hpp>
+#include <rerun_bridge/rerun_ros_interface.hpp>
+
+#include "collection_adapters.hpp"
+
+void log_imu(
+    const rerun::RecordingStream& rec, const std::string& entity_path,
+    const sensor_msgs::Imu::ConstPtr& msg
+) {
+    rec.set_time_seconds("timestamp", msg->header.stamp.toSec());
+
+    rec.log(entity_path + "/x", rerun::Scalar(msg->linear_acceleration.x));
+    rec.log(entity_path + "/y", rerun::Scalar(msg->linear_acceleration.y));
+    rec.log(entity_path + "/z", rerun::Scalar(msg->linear_acceleration.z));
+}
+
+void log_image(
+    const rerun::RecordingStream& rec, const std::string& entity_path,
+    const sensor_msgs::Image::ConstPtr& msg
+) {
+    rec.set_time_seconds("timestamp", msg->header.stamp.toSec());
+
+    cv::Mat img = cv_bridge::toCvCopy(msg, "rgb8")->image;
+    rec.log(entity_path, rerun::Image(tensor_shape(img), rerun::TensorBuffer::u8(img)));
+}
+
+void log_pose_stamped(
+    const rerun::RecordingStream& rec, const std::string& entity_path,
+    const geometry_msgs::PoseStamped::ConstPtr& msg
+) {
+    rec.set_time_seconds("timestamp", msg->header.stamp.toSec());
+
+    rec.log(
+        entity_path,
+        rerun::Transform3D(
+            rerun::Vector3D(msg->pose.position.x, msg->pose.position.y, msg->pose.position.z),
+            rerun::Quaternion::from_wxyz(
+                msg->pose.orientation.w,
+                msg->pose.orientation.x,
+                msg->pose.orientation.y,
+                msg->pose.orientation.z
+            )
+        )
+    );
+
+    // this is a somewhat hacky way to get a trajectory visualization in Rerun
+    // this should be be easier in the future, see https://github.com/rerun-io/rerun/issues/723
+    std::string trajectory_entity_path = "/trajectories/" + entity_path;
+    rec.log(
+        trajectory_entity_path,
+        rerun::Points3D(
+            {{static_cast<float>(msg->pose.position.x),
+              static_cast<float>(msg->pose.position.y),
+              static_cast<float>(msg->pose.position.z)}}
+        )
+    );
+}
+
+void log_odometry(
+    const rerun::RecordingStream& rec, const std::string& entity_path,
+    const nav_msgs::Odometry::ConstPtr& msg
+) {
+    rec.set_time_seconds("timestamp", msg->header.stamp.toSec());
+
+    rec.log(
+        entity_path,
+        rerun::Transform3D(
+            rerun::Vector3D(
+                msg->pose.pose.position.x,
+                msg->pose.pose.position.y,
+                msg->pose.pose.position.z
+            ),
+            rerun::Quaternion::from_wxyz(
+                msg->pose.pose.orientation.w,
+                msg->pose.pose.orientation.x,
+                msg->pose.pose.orientation.y,
+                msg->pose.pose.orientation.z
+            )
+        )
+    );
+}