feat: batch (#15)

.github/workflows/py_wheels.yml

@@ -23,7 +23,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        target: [x86_64, x86, aarch64, armv7]
+        target: [x86_64, aarch64, armv7]
     steps:
       - uses: actions/checkout@v4
       - uses: actions/setup-python@v5

Cargo.toml

@@ -1,13 +1,12 @@
 [workspace]
 members = [
-  "crates/sophus_tensor",
-  "crates/sophus_calculus",
+  "crates/sophus",
+  "crates/sophus_core",
   "crates/sophus_lie",
   "crates/sophus_pyo3",
   "crates/sophus_image",
   "crates/sophus_sensor",
   "crates/sophus_opt",
-  "crates/sophus",
 ]
 resolver = "2"
 
@@ -25,14 +24,14 @@ version = "0.4.0"
 
 [workspace.dependencies]
 sophus = {path = "crates/sophus", version = "0.4.0"}
-sophus_calculus = {path = "crates/sophus_calculus", version = "0.4.0"}
+sophus_core = {path = "crates/sophus_core", version = "0.4.0"}
 sophus_image = {path = "crates/sophus_image", version = "0.4.0"}
 sophus_lie = {path = "crates/sophus_lie", version = "0.4.0"}
 sophus_opt = {path = "crates/sophus_opt", version = "0.4.0"}
+sophus_pyo3 = {path = "crates/sophus_pyo3", version = "0.4.0"}
 sophus_sensor = {path = "crates/sophus_sensor", version = "0.4.0"}
-sophus_tensor = {path = "crates/sophus_tensor", version = "0.4.0"}
 
-approx = {version = "0.5.1"}
+approx = "0.5.1"
 as-any = "0.3.1"
 assertables = "7.0.1"
 async-trait = "0.1.77"
@@ -47,23 +46,16 @@ hollywood = "0.5.0"
 image = {version = "0.25", features = [
   "jpeg",
   "png",
-  "tga",
-  "gif",
-  "ico",
-  "bmp",
-  "hdr",
   "tiff",
-  "avif",
-  "webp",
 ]}
 log = "0.4.14"
 nalgebra = {version = "0.32", features = ["rand"]}
 ndarray = {version = "0.15.4", features = ["approx-0_5"]}
 num-traits = "0.2.15"
-numpy = "0.20"
+numpy = "0.21"
 png = "0.17.11"
 rand = "0.8.5"
-simba = "0.8.1"
+sleef = "0.3.2"
 tokio = {version = "1", features = ["full"]}
 typenum = {version = "1.17.0", features = ["const-generics"]}
 wgpu = "0.19"

LICENSE-APACHE

@@ -173,4 +173,4 @@ TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
    incurred by, or claims asserted against, such Contributor by reason
    of your accepting any such warranty or additional liability.
 
-END OF TERMS AND CONDITIONS
+END OF TERMS AND CONDITIONS

crates/sophus/Cargo.toml

@@ -11,12 +11,12 @@ repository.workspace = true
 version.workspace = true
 
 [dependencies]
-sophus_calculus.workspace = true
+sophus_core.workspace = true
 sophus_image.workspace = true
 sophus_lie.workspace = true
 sophus_opt.workspace = true
+sophus_pyo3.workspace = true
 sophus_sensor.workspace = true
-sophus_tensor.workspace = true
 
 approx.workspace = true
 assertables.workspace = true

crates/sophus/examples/pose_graph.rs

@@ -1,24 +1,25 @@
 use hollywood::actors::egui::EguiActor;
-
 use hollywood::actors::egui::Stream;
 pub use hollywood::compute::Context;
 pub use hollywood::core::*;
 use hollywood::macros::*;
-use sophus::calculus::types::vector::IsVector;
-use sophus::calculus::types::VecF64;
 use sophus::image::image_view::ImageSize;
-use sophus::lie::isometry2::Isometry2;
-use sophus::lie::isometry3::Isometry3;
 use sophus::lie::traits::IsTranslationProductGroup;
 use sophus::opt::example_problems::pose_circle::PoseCircleProblem;
-use sophus::sensor::perspective_camera::KannalaBrandtCamera;
 use sophus::viewer::actor::run_viewer_on_main_thread;
 use sophus::viewer::actor::ViewerBuilder;
 use sophus::viewer::actor::ViewerCamera;
 use sophus::viewer::actor::ViewerConfig;
 use sophus::viewer::renderable::*;
 use sophus::viewer::scene_renderer::interaction::WgpuClippingPlanes;
 use sophus::viewer::SimpleViewer;
+use sophus_core::linalg::vector::IsVector;
+use sophus_core::linalg::VecF64;
+use sophus_lie::groups::isometry2::Isometry2;
+use sophus_lie::groups::isometry3::Isometry3;
+use sophus_sensor::camera_enum::perspective_camera::KannalaBrandtCamera;
+use sophus_sensor::camera_enum::perspective_camera::PerspectiveCameraEnum;
+use sophus_sensor::dyn_camera::DynCamera;
 
 #[actor(ContentGeneratorMessage)]
 type ContentGenerator = Actor<
@@ -47,7 +48,7 @@ pub struct ContentGeneratorOutbound {
     pub packets: OutboundChannel<Stream<Vec<Renderable>>>,
 }
 
-fn make_axes(world_from_local_poses: Vec<Isometry2<f64>>) -> Vec<Line3> {
+fn make_axes(world_from_local_poses: Vec<Isometry2<f64, 1>>) -> Vec<Line3> {
     let zero_in_local = VecF64::<2>::zeros();
     let x_axis_local = VecF64::<2>::new(1.0, 0.0);
     let y_axis_local = VecF64::<2>::new(0.0, 1.0);
@@ -124,7 +125,7 @@ impl InboundMessageNew<f64> for ContentGeneratorMessage {
 
 pub async fn run_viewer_example() {
     // Camera / view pose parameters
-    let intrinsics = KannalaBrandtCamera::<f64>::new(
+    let intrinsics = KannalaBrandtCamera::<f64, 1>::new(
         &VecF64::<8>::from_array([600.0, 600.0, 320.0, 240.0, 0.0, 0.0, 0.0, 0.0]),
         ImageSize {
             width: 640,
@@ -137,7 +138,9 @@ pub async fn run_viewer_example() {
         far: 1000.0,
     };
     let camera = ViewerCamera {
-        intrinsics,
+        intrinsics: DynCamera::<f64, 1>::from_model(PerspectiveCameraEnum::KannalaBrandt(
+            intrinsics,
+        )),
         clipping_planes,
         scene_from_camera,
     };
@@ -157,7 +160,7 @@ pub async fn run_viewer_example() {
         );
         // 3. The viewer actor
         let mut viewer =
-            EguiActor::<Vec<Renderable>, (), Isometry3<f64>>::from_builder(context, &builder);
+            EguiActor::<Vec<Renderable>, (), Isometry3<f64, 1>>::from_builder(context, &builder);
 
         // Pipeline connections:
         timer

crates/sophus/examples/viewer_ex.rs

@@ -7,21 +7,20 @@ pub use hollywood::core::request::RequestHub;
 pub use hollywood::core::*;
 use hollywood::macros::*;
 use nalgebra::SVector;
-use sophus::calculus::types::vector::IsVector;
-use sophus::calculus::types::VecF64;
-use sophus::image::image_view::ImageSize;
-use sophus::lie::isometry3::Isometry3;
-use sophus::lie::traits::IsTranslationProductGroup;
-use sophus::sensor::perspective_camera::KannalaBrandtCamera;
-
 use sophus::image::arc_image::ArcImage4F32;
+use sophus::image::image_view::ImageSize;
 use sophus::viewer::actor::run_viewer_on_main_thread;
 use sophus::viewer::actor::ViewerBuilder;
 use sophus::viewer::actor::ViewerCamera;
 use sophus::viewer::actor::ViewerConfig;
 use sophus::viewer::renderable::*;
 use sophus::viewer::scene_renderer::interaction::WgpuClippingPlanes;
 use sophus::viewer::SimpleViewer;
+use sophus_core::linalg::vector::IsVector;
+use sophus_core::linalg::VecF64;
+use sophus_lie::groups::isometry3::Isometry3;
+use sophus_lie::traits::IsTranslationProductGroup;
+use sophus_sensor::dyn_camera::DynCamera;
 
 #[actor(ContentGeneratorMessage)]
 type ContentGenerator = Actor<
@@ -38,13 +37,13 @@ type ContentGenerator = Actor<
 pub enum ContentGeneratorMessage {
     /// in seconds
     ClockTick(f64),
-    SceneFromCamera(ReplyMessage<Isometry3<f64>>),
+    SceneFromCamera(ReplyMessage<Isometry3<f64, 1>>),
 }
 
 /// Request of the simulation actor.
 pub struct ContentGeneratorRequest {
     /// Check time-stamp of receiver
-    pub scene_from_camera_request: RequestChannel<(), Isometry3<f64>, ContentGeneratorMessage>,
+    pub scene_from_camera_request: RequestChannel<(), Isometry3<f64, 1>, ContentGeneratorMessage>,
 }
 
 impl RequestHub<ContentGeneratorMessage> for ContentGeneratorRequest {
@@ -78,16 +77,16 @@ impl Activate for ContentGeneratorRequest {
 pub struct ContentGeneratorState {
     pub counter: u32,
     pub show: bool,
-    pub intrinsics: KannalaBrandtCamera<f64>,
-    pub scene_from_camera: Isometry3<f64>,
+    pub intrinsics: DynCamera<f64, 1>,
+    pub scene_from_camera: Isometry3<f64, 1>,
 }
 
 impl Default for ContentGeneratorState {
     fn default() -> Self {
         ContentGeneratorState {
             counter: 0,
             show: false,
-            intrinsics: KannalaBrandtCamera::<f64>::new(
+            intrinsics: DynCamera::new_kannala_brandt(
                 &VecF64::<8>::from_array([600.0, 600.0, 320.0, 240.0, 0.0, 0.0, 0.0, 0.0]),
                 ImageSize {
                     width: 640,
@@ -422,15 +421,15 @@ impl InboundMessageNew<f64> for ContentGeneratorMessage {
     }
 }
 
-impl InboundMessageNew<ReplyMessage<Isometry3<f64>>> for ContentGeneratorMessage {
-    fn new(_inbound_name: String, scene_from_camera: ReplyMessage<Isometry3<f64>>) -> Self {
+impl InboundMessageNew<ReplyMessage<Isometry3<f64, 1>>> for ContentGeneratorMessage {
+    fn new(_inbound_name: String, scene_from_camera: ReplyMessage<Isometry3<f64, 1>>) -> Self {
         ContentGeneratorMessage::SceneFromCamera(scene_from_camera)
     }
 }
 
 pub async fn run_viewer_example() {
     // Camera / view pose parameters
-    let intrinsics = KannalaBrandtCamera::<f64>::new(
+    let intrinsics = DynCamera::new_kannala_brandt(
         &VecF64::<8>::from_array([600.0, 600.0, 320.0, 240.0, 0.0, 0.0, 0.0, 0.0]),
         ImageSize {
             width: 640,
@@ -443,7 +442,7 @@ pub async fn run_viewer_example() {
         far: 1000.0,
     };
     let camera = ViewerCamera {
-        intrinsics,
+        intrinsics: intrinsics.clone(),
         clipping_planes,
         scene_from_camera,
     };
@@ -462,13 +461,13 @@ pub async fn run_viewer_example() {
             ContentGeneratorState {
                 counter: 0,
                 show: false,
-                intrinsics,
+                intrinsics: intrinsics.clone(),
                 scene_from_camera,
             },
         );
         // 3. The viewer actor
         let mut viewer =
-            EguiActor::<Vec<Renderable>, (), Isometry3<f64>>::from_builder(context, &builder);
+            EguiActor::<Vec<Renderable>, (), Isometry3<f64, 1>>::from_builder(context, &builder);
 
         // Pipeline connections:
         timer

crates/sophus/src/lib.rs

@@ -1,9 +1,10 @@
-pub use sophus_calculus as calculus;
+#![feature(portable_simd)]
+
+pub use sophus_core as core;
 pub use sophus_image as image;
 pub use sophus_lie as lie;
 pub use sophus_opt as opt;
 pub use sophus_sensor as sensor;
-pub use sophus_tensor as tensor;
 
 pub mod viewer;
 

crates/sophus/src/viewer.rs

@@ -4,18 +4,6 @@ pub mod pixel_renderer;
 pub mod renderable;
 pub mod scene_renderer;
 
-use eframe::egui::load::SizedTexture;
-use eframe::egui::Image;
-use eframe::egui::Sense;
-use eframe::egui::{self};
-use eframe::egui_wgpu::Renderer;
-use eframe::epaint::mutex::RwLock;
-use hollywood::actors::egui::EguiAppFromBuilder;
-use hollywood::actors::egui::Stream;
-use hollywood::compute::pipeline::CancelRequest;
-use hollywood::core::request::RequestMessage;
-use std::sync::Arc;
-
 use self::actor::ViewerBuilder;
 use self::offscreen::OffscreenTexture;
 use self::pixel_renderer::PixelRenderer;
@@ -26,14 +14,25 @@ use self::scene_renderer::SceneRenderer;
 use crate::image::arc_image::ArcImage4U8;
 use crate::image::image_view::ImageSize;
 use crate::image::image_view::IsImageView;
-use crate::lie::isometry3::Isometry3;
-use crate::sensor::perspective_camera::KannalaBrandtCamera;
-use crate::tensor::view::IsTensorLike;
 use crate::viewer::pixel_renderer::LineVertex2;
 use crate::viewer::pixel_renderer::PointVertex2;
 use crate::viewer::scene_renderer::line::LineVertex3;
 use crate::viewer::scene_renderer::mesh::MeshVertex3;
 use crate::viewer::scene_renderer::point::PointVertex3;
+use eframe::egui::load::SizedTexture;
+use eframe::egui::Image;
+use eframe::egui::Sense;
+use eframe::egui::{self};
+use eframe::egui_wgpu::Renderer;
+use eframe::epaint::mutex::RwLock;
+use hollywood::actors::egui::EguiAppFromBuilder;
+use hollywood::actors::egui::Stream;
+use hollywood::compute::pipeline::CancelRequest;
+use hollywood::core::request::RequestMessage;
+use sophus_core::tensor::tensor_view::IsTensorLike;
+use sophus_lie::groups::isometry3::Isometry3;
+use sophus_sensor::dyn_camera::DynCamera;
+use std::sync::Arc;
 
 #[derive(Clone)]
 pub struct ViewerRenderState {
@@ -88,13 +87,13 @@ impl BackgroundTexture {
 pub struct SimpleViewer {
     state: ViewerRenderState,
     offscreen: OffscreenTexture,
-    cam: KannalaBrandtCamera<f64>,
+    cam: DynCamera<f64, 1>,
     pixel: PixelRenderer,
     scene: SceneRenderer,
     background_image: Option<ArcImage4U8>,
     background_texture: Option<BackgroundTexture>,
     message_recv: std::sync::mpsc::Receiver<Stream<Vec<Renderable>>>,
-    request_recv: std::sync::mpsc::Receiver<RequestMessage<(), Isometry3<f64>>>,
+    request_recv: std::sync::mpsc::Receiver<RequestMessage<(), Isometry3<f64, 1>>>,
     cancel_request_sender: tokio::sync::mpsc::Sender<CancelRequest>,
 }
 
@@ -111,7 +110,7 @@ impl EguiAppFromBuilder<ViewerBuilder> for SimpleViewer {
         Box::new(SimpleViewer {
             state: render_state.clone(),
             offscreen: OffscreenTexture::new(&render_state, &builder.config.camera.intrinsics),
-            cam: builder.config.camera.intrinsics,
+            cam: builder.config.camera.intrinsics.clone(),
             pixel: PixelRenderer::new(&render_state, &builder, depth_stencil.clone()),
             scene: SceneRenderer::new(&render_state, &builder, depth_stencil),
             message_recv: builder.message_recv,

crates/sophus/src/viewer/actor.rs

@@ -1,18 +1,17 @@
-use crate::lie::isometry3::Isometry3;
-use crate::sensor::perspective_camera::KannalaBrandtCamera;
 use crate::viewer::scene_renderer::interaction::WgpuClippingPlanes;
 use crate::viewer::Renderable;
 use crate::viewer::ViewerRenderState;
-
 use eframe::egui;
 use hollywood::actors::egui::EguiAppFromBuilder;
 use hollywood::actors::egui::GenericEguiBuilder;
 use hollywood::core::request::RequestMessage;
+use sophus_lie::groups::isometry3::Isometry3;
+use sophus_sensor::dyn_camera::DynCamera;
 
 pub struct ViewerCamera {
-    pub intrinsics: KannalaBrandtCamera<f64>,
+    pub intrinsics: DynCamera<f64, 1>,
     pub clipping_planes: WgpuClippingPlanes,
-    pub scene_from_camera: Isometry3<f64>,
+    pub scene_from_camera: Isometry3<f64, 1>,
 }
 
 pub struct ViewerConfig {
@@ -23,7 +22,7 @@ pub struct ViewerConfig {
 #[derive(Clone, Debug)]
 pub enum ViewerMessage {
     Packets(Vec<Renderable>),
-    RequestViewPose(RequestMessage<(), Isometry3<f64>>),
+    RequestViewPose(RequestMessage<(), Isometry3<f64, 1>>),
 }
 
 impl Default for ViewerMessage {
@@ -33,7 +32,7 @@ impl Default for ViewerMessage {
 }
 
 pub type ViewerBuilder =
-    GenericEguiBuilder<Vec<Renderable>, RequestMessage<(), Isometry3<f64>>, ViewerConfig>;
+    GenericEguiBuilder<Vec<Renderable>, RequestMessage<(), Isometry3<f64, 1>>, ViewerConfig>;
 
 pub fn run_viewer_on_main_thread<
     Builder: 'static,