render tweaks: proper viewport scaling and in-plane interaction

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"

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::offscreen_renderer::renderer::ClippingPlanes;
 use sophus_viewer::simple_viewer::SimpleViewer;
 
 use crate::color::Color;
@@ -120,7 +120,7 @@ impl HasOnMessage for ContentGeneratorMessage {
                     },
                 );
                 let scene_from_camera = Isometry3::from_t(&VecF64::<3>::new(0.0, 0.0, -50.0));
-                let clipping_planes = WgpuClippingPlanes {
+                let clipping_planes = ClippingPlanes {
                     near: 0.1,
                     far: 1000.0,
                 };

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::offscreen_renderer::renderer::ClippingPlanes;
 use sophus_viewer::renderables::color::Color;
 use sophus_viewer::renderables::renderable2d::Points2;
 use sophus_viewer::renderables::renderable2d::Renderable2d;
@@ -147,7 +147,7 @@ fn create_tiny_view2_packet() -> Packet {
         "lines2",
         &[[[-0.5, -0.5], [0.5, 0.5]], [[0.5, -0.5], [-0.5, 0.5]]],
         &Color::red(),
-        0.3,
+        2.0,
     );
     packet_2d.renderables2d.push(Renderable2d::Lines2(lines2));
 
@@ -157,7 +157,7 @@ fn create_tiny_view2_packet() -> Packet {
 fn create_view3_packet() -> Packet {
     let initial_camera = ViewerCamera {
         intrinsics: DynCamera::default_distorted(ImageSize::new(639, 477)),
-        clipping_planes: WgpuClippingPlanes::default(),
+        clipping_planes: ClippingPlanes::default(),
         scene_from_camera: Isometry3::from_t(&VecF64::<3>::new(0.0, 0.0, -5.0)),
     };
     let mut packet_3d = View3dPacket {

crates/sophus_viewer/src/actor.rs

@@ -8,7 +8,7 @@ use sophus_lie::traits::IsTranslationProductGroup;
 use sophus_lie::Isometry3;
 use sophus_sensor::dyn_camera::DynCamera;
 
-use crate::interactions::WgpuClippingPlanes;
+use crate::offscreen_renderer::renderer::ClippingPlanes;
 use crate::renderables::Packets;
 use crate::ViewerRenderState;
 
@@ -18,7 +18,7 @@ pub struct ViewerCamera {
     /// Camera intrinsics
     pub intrinsics: DynCamera<f64, 1>,
     /// Clipping planes
-    pub clipping_planes: WgpuClippingPlanes,
+    pub clipping_planes: ClippingPlanes,
     /// Scene from camera pose
     pub scene_from_camera: Isometry3<f64, 1>,
 }
@@ -34,7 +34,7 @@ impl ViewerCamera {
     pub fn default_from(image_size: ImageSize) -> ViewerCamera {
         ViewerCamera {
             intrinsics: DynCamera::default_pinhole(image_size),
-            clipping_planes: WgpuClippingPlanes::default(),
+            clipping_planes: ClippingPlanes::default(),
             scene_from_camera: Isometry3::from_t(&VecF64::<3>::new(0.0, 0.0, -5.0)),
         }
     }

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;