refactor: offscreen renderer

Cargo.toml

@@ -21,18 +21,18 @@ include = [
 ]
 keywords = ["robotics", "optimization"]
 license = "MIT OR Apache-2.0"
-repository = "https://github.com/farm-ng/sophus-rs/"
-version = "0.7.0"
+repository = "https://github.com/sophus-vision/sophus-rs/"
+version = "0.8.0"
 
 [workspace.dependencies]
-sophus = {path = "crates/sophus", version = "0.7.0"}
-sophus_core = {path = "crates/sophus_core", version = "0.7.0"}
-sophus_image = {path = "crates/sophus_image", version = "0.7.0"}
-sophus_lie = {path = "crates/sophus_lie", version = "0.7.0"}
-sophus_opt = {path = "crates/sophus_opt", version = "0.7.0"}
-sophus_pyo3 = {path = "crates/sophus_pyo3", version = "0.7.0"}
-sophus_sensor = {path = "crates/sophus_sensor", version = "0.7.0"}
-sophus_viewer = {path = "crates/sophus_viewer", version = "0.7.0"}
+sophus = {path = "crates/sophus", version = "0.8.0"}
+sophus_core = {path = "crates/sophus_core", version = "0.8.0"}
+sophus_image = {path = "crates/sophus_image", version = "0.8.0"}
+sophus_lie = {path = "crates/sophus_lie", version = "0.8.0"}
+sophus_opt = {path = "crates/sophus_opt", version = "0.8.0"}
+sophus_pyo3 = {path = "crates/sophus_pyo3", version = "0.8.0"}
+sophus_sensor = {path = "crates/sophus_sensor", version = "0.8.0"}
+sophus_viewer = {path = "crates/sophus_viewer", version = "0.8.0"}
 
 approx = "0.5"
 as-any = "0.3"
@@ -45,7 +45,7 @@ eframe = {version = "0.27", features = ["wgpu"]}
 egui_extras = "0.27"
 env_logger = "0.11"
 faer = "0.19"
-hollywood = {version = "0.7.0"}
+hollywood = {version = "0.8.0"}
 image = {version = "0.25", features = [
   "jpeg",
   "png",

README.md

@@ -28,7 +28,7 @@ sophus-rs builds on stable.
 
 ```toml
 [dependencies]
-sophus = "0.7.0"
+sophus = "0.8.0"
 ```
 
 To allow for batch types, such as BatchScalarF64, the 'simd' feature is required. This feature
@@ -38,5 +38,5 @@ are no plans to rely on any other nightly features.
 
 ```toml
 [dependencies]
-sophus = { version = "0.7.0", features = ["simd"] }
+sophus = { version = "0.8.0", features = ["simd"] }
 ```

crates/sophus/examples/pose_graph.rs

@@ -15,7 +15,7 @@ use sophus_lie::Isometry3;
 use sophus_sensor::camera_enum::perspective_camera::PerspectiveCameraEnum;
 use sophus_sensor::dyn_camera::DynCamera;
 use sophus_sensor::KannalaBrandtCamera;
-use sophus_viewer::interactions::WgpuClippingPlanes;
+use sophus_viewer::views::interactions::WgpuClippingPlanes;
 use sophus_viewer::simple_viewer::SimpleViewer;
 
 use crate::color::Color;

crates/sophus/examples/viewer_ex.rs

@@ -15,7 +15,7 @@ use sophus_image::mut_image_view::IsMutImageView;
 use sophus_lie::traits::IsTranslationProductGroup;
 use sophus_lie::Isometry3;
 use sophus_sensor::DynCamera;
-use sophus_viewer::interactions::WgpuClippingPlanes;
+use sophus_viewer::views::interactions::WgpuClippingPlanes;
 use sophus_viewer::renderables::color::Color;
 use sophus_viewer::renderables::renderable2d::Points2;
 use sophus_viewer::renderables::renderable2d::Renderable2d;

crates/sophus_viewer/src/actor.rs

@@ -8,8 +8,8 @@ use sophus_lie::traits::IsTranslationProductGroup;
 use sophus_lie::Isometry3;
 use sophus_sensor::dyn_camera::DynCamera;
 
-use crate::interactions::WgpuClippingPlanes;
 use crate::renderables::Packets;
+use crate::views::interactions::WgpuClippingPlanes;
 use crate::ViewerRenderState;
 
 /// Viewer camera configuration.

crates/sophus_viewer/src/lib.rs

@@ -6,16 +6,10 @@
 
 /// The actor for the viewer.
 pub mod actor;
-/// Interactions
-pub mod interactions;
 /// The offscreen texture for rendering.
-pub mod offscreen;
-/// The pixel renderer for 2D rendering.
-pub mod pixel_renderer;
+pub mod offscreen_renderer;
 /// The renderable structs.
 pub mod renderables;
-/// The scene renderer for 3D rendering.
-pub mod scene_renderer;
 /// The simple viewer.
 pub mod simple_viewer;
 /// The view struct.

crates/sophus_viewer/src/offscreen_renderer.rs

@@ -0,0 +1,11 @@
+/// offscreen texture for rendering
+pub mod textures;
+
+/// Renderer for offscreen rendering
+pub mod renderer;
+
+/// The pixel renderer for 2D rendering.
+pub mod pixel_renderer;
+
+/// The scene renderer for 3D rendering.
+pub mod scene_renderer;

crates/sophus_viewer/src/pixel_renderer.rs → crates/sophus_viewer/src/offscreen_renderer/pixel_renderer.rs

@@ -10,10 +10,11 @@ use std::num::NonZeroU64;
 use wgpu::util::DeviceExt;
 use wgpu::DepthStencilState;
 
-use crate::interactions::InteractionEnum;
-use crate::offscreen::ZBufferTexture;
-use crate::pixel_renderer::line::PixelLineRenderer;
-use crate::pixel_renderer::pixel_point::PixelPointRenderer;
+use crate::offscreen_renderer::pixel_renderer::line::PixelLineRenderer;
+use crate::offscreen_renderer::pixel_renderer::pixel_point::PixelPointRenderer;
+use crate::offscreen_renderer::textures::ZBufferTexture;
+use crate::views::interactions::inplane_interaction::InplaneInteraction;
+use crate::views::interactions::orbit_interaction::OrbitalInteraction;
 use crate::ViewerRenderState;
 
 /// Renderer for pixel data
@@ -120,72 +121,73 @@ impl PixelRenderer {
         }
     }
 
-    pub(crate) fn show_interaction_marker(
+    pub(crate) fn show_interaction_marker0(
         &self,
         state: &ViewerRenderState,
-        interaction_state: &InteractionEnum,
+        orbital_interaction: &OrbitalInteraction,
     ) {
-        match interaction_state {
-            InteractionEnum::OrbitalInteraction(orbital_interaction) => {
-                if let Some(scene_focus) = orbital_interaction.maybe_scene_focus {
-                    *self.point_renderer.show_interaction_marker.lock().unwrap() =
-                        if orbital_interaction.maybe_pointer_state.is_some()
-                            || orbital_interaction.maybe_scroll_state.is_some()
-                        {
-                            let mut vertex_data = vec![];
-
-                            for _i in 0..6 {
-                                vertex_data.push(PointVertex2 {
-                                    _pos: [
-                                        scene_focus.uv_in_virtual_camera[0] as f32,
-                                        scene_focus.uv_in_virtual_camera[1] as f32,
-                                    ],
-                                    _color: [0.5, 0.5, 0.5, 1.0],
-                                    _point_size: 5.0,
-                                });
-                            }
-                            state.queue.write_buffer(
-                                &self.point_renderer.interaction_vertex_buffer,
-                                0,
-                                bytemuck::cast_slice(&vertex_data),
-                            );
-
-                            true
-                        } else {
-                            false
-                        };
-                }
-            }
-            InteractionEnum::InplaneInteraction(inplane_interaction) => {
-                if let Some(scene_focus) = inplane_interaction.maybe_scene_focus {
-                    *self.point_renderer.show_interaction_marker.lock().unwrap() =
-                        if inplane_interaction.maybe_pointer_state.is_some()
-                            || inplane_interaction.maybe_scroll_state.is_some()
-                        {
-                            let mut vertex_data = vec![];
-
-                            for _i in 0..6 {
-                                vertex_data.push(PointVertex2 {
-                                    _pos: [
-                                        scene_focus.uv_in_virtual_camera[0] as f32,
-                                        scene_focus.uv_in_virtual_camera[1] as f32,
-                                    ],
-                                    _color: [0.5, 0.5, 0.5, 1.0],
-                                    _point_size: 5.0,
-                                });
-                            }
-                            state.queue.write_buffer(
-                                &self.point_renderer.interaction_vertex_buffer,
-                                0,
-                                bytemuck::cast_slice(&vertex_data),
-                            );
-
-                            true
-                        } else {
-                            false
-                        };
-                }
-            }
+        if let Some(scene_focus) = orbital_interaction.maybe_scene_focus {
+            *self.point_renderer.show_interaction_marker.lock().unwrap() =
+                if orbital_interaction.maybe_pointer_state.is_some()
+                    || orbital_interaction.maybe_scroll_state.is_some()
+                {
+                    let mut vertex_data = vec![];
+
+                    for _i in 0..6 {
+                        vertex_data.push(PointVertex2 {
+                            _pos: [
+                                scene_focus.uv_in_virtual_camera[0] as f32,
+                                scene_focus.uv_in_virtual_camera[1] as f32,
+                            ],
+                            _color: [0.5, 0.5, 0.5, 1.0],
+                            _point_size: 5.0,
+                        });
+                    }
+                    state.queue.write_buffer(
+                        &self.point_renderer.interaction_vertex_buffer,
+                        0,
+                        bytemuck::cast_slice(&vertex_data),
+                    );
+
+                    true
+                } else {
+                    false
+                };
+        }
+    }
+
+    pub(crate) fn show_interaction_marker1(
+        &self,
+        state: &ViewerRenderState,
+        inplane_interaction: &InplaneInteraction,
+    ) {
+        if let Some(scene_focus) = inplane_interaction.maybe_scene_focus {
+            *self.point_renderer.show_interaction_marker.lock().unwrap() =
+                if inplane_interaction.maybe_pointer_state.is_some()
+                    || inplane_interaction.maybe_scroll_state.is_some()
+                {
+                    let mut vertex_data = vec![];
+
+                    for _i in 0..6 {
+                        vertex_data.push(PointVertex2 {
+                            _pos: [
+                                scene_focus.uv_in_virtual_camera[0] as f32,
+                                scene_focus.uv_in_virtual_camera[1] as f32,
+                            ],
+                            _color: [0.5, 0.5, 0.5, 1.0],
+                            _point_size: 5.0,
+                        });
+                    }
+                    state.queue.write_buffer(
+                        &self.point_renderer.interaction_vertex_buffer,
+                        0,
+                        bytemuck::cast_slice(&vertex_data),
+                    );
+
+                    true
+                } else {
+                    false
+                };
         }
     }
 

crates/sophus_viewer/src/pixel_renderer/line.rs → crates/sophus_viewer/src/offscreen_renderer/pixel_renderer/line.rs

@@ -4,7 +4,7 @@ use eframe::egui_wgpu::wgpu::util::DeviceExt;
 use nalgebra::SVector;
 use wgpu::DepthStencilState;
 
-use crate::pixel_renderer::LineVertex2;
+use crate::offscreen_renderer::pixel_renderer::LineVertex2;
 use crate::renderables::renderable2d::Line2;
 use crate::ViewerRenderState;
 

crates/sophus_viewer/src/pixel_renderer/pixel_point.rs → crates/sophus_viewer/src/offscreen_renderer/pixel_renderer/pixel_point.rs

@@ -4,7 +4,7 @@ use std::sync::Mutex;
 use eframe::egui_wgpu::wgpu::util::DeviceExt;
 use wgpu::DepthStencilState;
 
-use crate::pixel_renderer::PointVertex2;
+use crate::offscreen_renderer::pixel_renderer::PointVertex2;
 use crate::renderables::renderable2d::Point2;
 use crate::ViewerRenderState;