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rr: partially migrate to 0.9.0

develop
Kinch 2023-10-09 16:35:14 +02:00
parent 337b83450f
commit 09990e545e
4 changed files with 479 additions and 372 deletions
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796
Cargo.lock generated
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1
lua/rr.example.lua
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@ -58,6 +58,7 @@ end
local ms_form = rr.json("/Users/tbr/Desktop/ms_form.json")
local record = rr.recording("example-2")
record:image("54-1", "/Users/tbr/Desktop/00054-1.png")
record:image("54-0", "/Users/tbr/Desktop/00054-0.png")
record:text_objects("54-0/ms-forms/paragraphs",paragraphs(ms_form))
record:text_objects("54-0/ms-forms/lines",lines(ms_form))

2
lua_modules/rerun_lua/Cargo.toml
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@ -10,6 +10,6 @@ crate-type = ["cdylib"]
[dependencies]
image = { version = "0.24.7", features = ["png", "jpeg", "tiff"] }
mlua = { workspace = true }
rerun = "0.8.2"
rerun = "0.9.0"
serde_json = "1.0.107"
serde = { version = "1.0.188", features = ["derive"] }

52
lua_modules/rerun_lua/src/lib.rs
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@ -1,16 +1,17 @@
use std::fs::File;
use std::io::BufReader;
use std::path::PathBuf;
use mlua::{AnyUserData, Function, MetaMethod, Table, TableExt, UserData, UserDataRef};
use mlua::{AnyUserData, MetaMethod, UserData, UserDataRef};
use mlua::prelude::*;
use rerun::{MsgSender, RecordingStream, RecordingStreamBuilder};
use rerun::components::{Rect2D, Tensor, Vec4D};
use serde::{Deserialize, Serialize};
use rerun::{Boxes2D, Image, MaybeOwnedComponentBatch, RecordingStream, RecordingStreamBuilder};
use rerun::components::{Text};
use rerun::datatypes::{TensorData, Vec4D};
#[derive(Debug)]
pub struct TextObject {
pub text: String,
pub bbox: Rect2D,
pub bbox: Boxes2D,
}
impl UserData for TextObject {
@ -24,7 +25,7 @@ impl UserData for TextObject {
impl<'lua> FromLua<'lua> for TextObject {
fn from_lua(value: LuaValue<'lua>, lua: &'lua Lua) -> LuaResult<Self> {
let table = value.as_table().ok_or(LuaError::RuntimeError("invalid args for text_object".to_string()))?;
let rect = table.get::<_, UserDataRef<Rect2D>>("bbox")?.clone();
let rect = table.get::<_, UserDataRef<Boxes2D>>("bbox")?.clone();
Ok(TextObject {
text: table.get("text")?,
bbox: rect
@ -48,39 +49,42 @@ fn recording(lua: &Lua, name: String) -> LuaResult<AnyUserData> {
}
fn rect_xyxy(lua: &Lua, points: [f32;4]) -> LuaResult<AnyUserData> {
let rect = Rect2D::XYXY(Vec4D(points).into());
lua.create_any_userdata(rect)
let mut box2d = Boxes2D::from_mins_and_sizes(
[(points[0], points[1])],
[(points[2] - points[0], points[3] - points[1])],
);
box2d.labels = Some(vec![Text::from("A Label")]);
lua.create_any_userdata(box2d)
}
fn register_bindings(lua: &Lua) -> LuaResult<()> {
lua.register_userdata_type::<Rect2D>(|reg| {
lua.register_userdata_type::<Boxes2D>(|reg| {
reg.add_meta_method(MetaMethod::ToString, |lua, this, _:()| Ok(format!("{:?}", this)))
})?;
lua.register_userdata_type::<RecordingStream>(|reg|{
reg.add_method("image", |lua, this, (entity_path, image_path): (String,String)| {
let image_tensor = Tensor::from_image_file(PathBuf::from(image_path.as_str()).as_path())
let tensor = TensorData::from_image_file(PathBuf::from(image_path.as_str()).as_path())
.map_err(|error| LuaError::RuntimeError(format!("Could not read image file {image_path}. Error: {error}")))?;
MsgSender::new(entity_path)
.with_timeless(true)
.with_component(&[image_tensor])
.map_err(|error| LuaError::RuntimeError(format!("Could not send message: {}", error)))?
.send(this)
let image = Image::try_from(tensor).unwrap();
this.log_timeless(entity_path, &image)
.map_err(|error| LuaError::RuntimeError(format!("Could not send message {error}")))?;
;
Ok(())
});
reg.add_method("text_objects", |lua, this, (entity_path, objects): (String, Vec<TextObject>)| {
let rects: Vec<Rect2D> = objects.into_iter()
.map(|t| t.bbox)
.collect();
MsgSender::new(entity_path)
.with_timeless(true)
.with_component(rects.as_slice())
.map_err(|error| LuaError::RuntimeError(format!("Could not send message: {}", error)))?
.send(this)
.map_err(|error| LuaError::RuntimeError(format!("Could not send message {error}")))?;
// let rects: Vec<Boxes2D> = objects.into_iter()
// .map(|t| t.bbox)
// .collect();
for text_object in objects {
this.log_timeless(
entity_path.clone(),
&text_object.bbox
).map_err(|error| LuaError::RuntimeError(format!("Could not send message {error}")))?;
}
Ok(())
})