opt: variadic macro for MakeTerm

sophus-vision · Dec 7, 2024 · bcdcfae · bcdcfae
1 parent 750526a
commit bcdcfae
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Showing 23 changed files with 178 additions and 347 deletions.
diff --git a/.github/workflows/format.yml b/.github/workflows/format.yml
@@ -24,5 +24,5 @@ jobs:
             toolchain: nightly-2024-09-01
         - name: cargo doc
           run: |
-            rustup default nightly-2024-09-01
-            cargo doc --no-deps --all-features
+            cargo +nightly fmt
+            cargo +nightly doc --no-deps --all-features
diff --git a/crates/sophus/examples/camera_sim.rs b/crates/sophus/examples/camera_sim.rs
@@ -1,17 +1,17 @@
 #![cfg(feature = "std")]
 
+use sophus::lie::Isometry3;
+use sophus::prelude::IsImageView;
+use sophus::sim::camera_simulator::CameraSimulator;
+use sophus_image::io::png::save_as_png;
+use sophus_image::io::tiff::save_as_tiff;
+use sophus_image::ImageSize;
 use sophus_renderer::camera::properties::RenderCameraProperties;
 use sophus_renderer::renderables::color::Color;
 use sophus_renderer::renderables::scene_renderable::make_line3;
 use sophus_renderer::renderables::scene_renderable::make_mesh3_at;
 use sophus_renderer::renderables::scene_renderable::make_point3;
 use sophus_renderer::RenderContext;
-use sophus::sim::camera_simulator::CameraSimulator;
-use sophus_image::io::png::save_as_png;
-use sophus_image::io::tiff::save_as_tiff;
-use sophus_image::ImageSize;
-use sophus::lie::Isometry3;
-use sophus::prelude::IsImageView;
 
 pub async fn run_offscreen() {
     let render_state = RenderContext::new().await;

diff --git a/crates/sophus/examples/viewer_ex.rs b/crates/sophus/examples/viewer_ex.rs
@@ -1,7 +1,15 @@
 #![cfg(feature = "std")]
 
 use core::f64::consts::TAU;
+use sophus::core::linalg::VecF64;
 use sophus::examples::viewer_example::make_distorted_frame;
+use sophus::lie::prelude::IsVector;
+use sophus::lie::Isometry3;
+use sophus::sensor::dyn_camera::DynCameraF64;
+use sophus_image::intensity_image::intensity_arc_image::IsIntensityArcImage;
+use sophus_image::mut_image::MutImageF32;
+use sophus_image::mut_image_view::IsMutImageView;
+use sophus_image::ImageSize;
 use sophus_renderer::camera::clipping_planes::ClippingPlanes;
 use sophus_renderer::camera::properties::RenderCameraProperties;
 use sophus_renderer::camera::RenderCamera;
@@ -13,15 +21,6 @@ use sophus_renderer::renderables::scene_renderable::make_line3;
 use sophus_renderer::renderables::scene_renderable::make_mesh3_at;
 use sophus_renderer::renderables::scene_renderable::make_point3;
 use sophus_renderer::RenderContext;
-use sophus::core::linalg::VecF64;
-use sophus_image::intensity_image::intensity_arc_image::IsIntensityArcImage;
-use sophus_image::mut_image::MutImageF32;
-use sophus_image::mut_image_view::IsMutImageView;
-use sophus_image::ImageSize;
-use sophus::lie::prelude::IsVector;
-use sophus::lie::Isometry3;
-use sophus::sensor::dyn_camera::DynCameraF64;
-use thingbuf::mpsc::blocking::channel;
 use sophus_viewer::packets::append_to_scene_packet;
 use sophus_viewer::packets::create_scene_packet;
 use sophus_viewer::packets::image_view_packet::ImageViewPacket;
@@ -34,6 +33,7 @@ use sophus_viewer::packets::plot_view_packet::PlotViewPacket;
 use sophus_viewer::packets::Packet;
 use sophus_viewer::simple_viewer::SimpleViewer;
 use std::thread::spawn;
+use thingbuf::mpsc::blocking::channel;
 
 fn create_distorted_image_packet() -> Packet {
     let mut image_packet = ImageViewPacket {

diff --git a/crates/sophus/src/examples/viewer_example.rs b/crates/sophus/src/examples/viewer_example.rs
@@ -1,12 +1,12 @@
-use sophus_renderer::camera::properties::RenderCameraProperties;
-use sophus_renderer::renderables::frame::ImageFrame;
 use sophus_core::linalg::SVec;
 use sophus_core::linalg::VecF64;
 use sophus_core::prelude::IsVector;
 use sophus_image::arc_image::ArcImage4U8;
 use sophus_image::mut_image::MutImage4U8;
 use sophus_image::mut_image_view::IsMutImageView;
 use sophus_image::ImageSize;
+use sophus_renderer::camera::properties::RenderCameraProperties;
+use sophus_renderer::renderables::frame::ImageFrame;
 use sophus_sensor::dyn_camera::DynCameraF64;
 
 /// Makes example image of image-size

diff --git a/crates/sophus/src/lib.rs b/crates/sophus/src/lib.rs
@@ -11,10 +11,10 @@ pub use sophus_lie as lie;
 #[doc(inline)]
 pub use sophus_opt as opt;
 #[doc(inline)]
-pub use sophus_sensor as sensor;
-#[doc(inline)]
 pub use sophus_renderer as renderer;
 #[doc(inline)]
+pub use sophus_sensor as sensor;
+#[doc(inline)]
 pub use sophus_sim as sim;
 #[doc(inline)]
 pub use sophus_viewer as viewer;
@@ -23,7 +23,6 @@ pub mod examples;
 pub use eframe;
 pub use thingbuf;
 
-
 pub use nalgebra;
 pub use ndarray;