Update rerun (#18)

* update version

* log image

* axis length

Author: powei-lin

Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "camera-intrinsic-calibration"
-version = "0.6.0"
+version = "0.7.0"
 edition = "2021"
 authors = ["Powei Lin <poweilin1994@gmail.com>"]
 readme = "README.md"
@@ -23,24 +23,24 @@ exclude = [
 [dependencies]
 aprilgrid = "0.6.0"
 camera-intrinsic-model = "0.3.1"
-clap = { version = "4.5.31", features = ["derive"] }
-colorous = "1.0.15"
-env_logger = "0.11.6"
-faer = "0.21.5"
-glam = "0.30.0"
+clap = { version = "4.5.34", features = ["derive"] }
+colorous = "1.0.16"
+env_logger = "0.11.7"
+faer = "0.21.9"
+glam = "0.30.1"
 glob = "0.3.2"
-image = "0.25.5"
+image = "0.25.6"
 indicatif = { version = "0.17.11", features = ["rayon"] }
-log = "0.4.26"
+log = "0.4.27"
 nalgebra = "0.33.2"
 rand = "0.9.0"
 rand_chacha = "0.9.0"
 rayon = "1.10.0"
-rerun = "0.17.0"
-serde = { version = "1.0.218", features = ["derive"] }
-serde_json = "1.0.139"
+rerun = "0.22.1"
+serde = { version = "1.0.219", features = ["derive"] }
+serde_json = "1.0.140"
 sqpnp_simple = "0.1.6"
-time = "0.3.37"
+time = "0.3.41"
 tiny-solver = "0.17.0"
 
 [[bin]]

README.md

@@ -31,9 +31,9 @@ ccrs dataset-calib-cam1_1024_16 --model eucm
 ### Visualize details after calibration
 ```sh
 # use cargo to install rerun
-cargo install rerun-cli --version 0.17.0
+cargo install rerun-cli --version 0.22.1
 # or use pip to install rerun
-pip install rerun-sdk==0.17.0
+pip install rerun-sdk==0.22.1
 # visualize result
 rerun results/20YYMMDD_HH_MM_SS/logging.rrd
 ```

src/bin/camera_calibration.rs

@@ -102,7 +102,7 @@ fn main() {
         .save(format!("{}/logging.rrd", output_folder))
         .unwrap();
     recording
-        .log_static("/", &rerun::ViewCoordinates::RDF)
+        .log_static("/", &rerun::ViewCoordinates::RDF())
         .unwrap();
     trace!("Start loading data");
     println!("Start loading images and detecting charts.");
@@ -199,11 +199,11 @@ fn main() {
                     )
                 })
                 .collect();
+            let cam_transform =
+                na_isometry3_to_rerun_transform3d(&t_i_0[cam_idx].to_na_isometry3().inverse())
+                    .with_axis_length(0.1);
             recording
-                .log_static(
-                    format!("/cam{}", cam_idx),
-                    &na_isometry3_to_rerun_transform3d(&t_i_0[cam_idx].to_na_isometry3().inverse()),
-                )
+                .log_static(format!("/cam{}", cam_idx), &cam_transform)
                 .unwrap();
             let rep = validation(
                 cam_idx,

src/data_loader.rs

@@ -3,7 +3,7 @@ use std::path::Path;
 
 use crate::board::{self, Board};
 use crate::detected_points::{FeaturePoint, FrameFeature};
-use crate::visualization::log_image_as_compressed;
+use crate::visualization::log_image;
 use aprilgrid::detector::TagDetector;
 use glam::Vec2;
 use glob::glob;
@@ -99,8 +99,8 @@ pub fn load_euroc(
                     let img = ImageReader::open(path).unwrap().decode().unwrap();
                     if let Some(recording) = recording_option {
                         recording.set_time_nanos("stable", time_ns);
-                        let topic = format!("/cam{}", cam_idx);
-                        log_image_as_compressed(recording, &topic, &img, image::ImageFormat::Jpeg);
+                        let topic = format!("cam{}", cam_idx);
+                        log_image(recording, &topic, &img);
                     };
                     (
                         time_ns,
@@ -153,8 +153,8 @@ pub fn load_others(
                     let img = ImageReader::open(path).unwrap().decode().unwrap();
                     if let Some(recording) = recording_option {
                         recording.set_time_nanos("stable", time_ns);
-                        let topic = format!("/cam{}", cam_idx);
-                        log_image_as_compressed(recording, &topic, &img, image::ImageFormat::Jpeg);
+                        let topic = format!("cam{}", cam_idx);
+                        log_image(recording, &topic, &img);
                     };
                     (
                         time_ns,

src/visualization.rs

@@ -2,27 +2,14 @@ use image::DynamicImage;
 use rand::prelude::*;
 use rand_chacha::ChaCha8Rng;
 use rerun::RecordingStream;
-use std::io::Cursor;
 
 use crate::detected_points::FrameFeature;
 
-pub fn log_image_as_compressed(
-    recording: &RecordingStream,
-    topic: &str,
-    img: &DynamicImage,
-    format: image::ImageFormat,
-) {
-    let mut bytes: Vec<u8> = Vec::new();
-
-    img.to_luma8()
-        .write_to(&mut Cursor::new(&mut bytes), format)
-        .unwrap();
-
+pub fn log_image(recording: &RecordingStream, topic: &str, img: &DynamicImage) {
+    let gray_img = img.to_luma8();
+    let rr_image = rerun::Image::from_l8(gray_img.to_vec(), [gray_img.width(), gray_img.height()]);
     recording
-        .log(
-            format!("{}/image", topic),
-            &rerun::Image::from_file_contents(bytes, None).unwrap(),
-        )
+        .log(format!("{}/image", topic), &rr_image)
         .unwrap();
 }