Roundtrip-able `Transform3D`s #2669

teh-cmc · 2023-07-11T11:09:54Z

Commit by commit!

This PR makes it so Python and Rust can exchange Transform3D data using the new Archetype-based APIs.

Roughly:

Fixes serialization issues in Python SDK
Implements all necessary Rust extensions
Improves our roundtrip test suite
Implements cross-language roundtrip tests for Transform3D

Fixes #2644

Requires:

Checklist

I have read and agree to Contributor Guide and the Code of Conduct
I've included a screenshot or gif (if applicable)
I have tested demo.rerun.io (if applicable)

jleibs

This looks great; everything actually surprisingly straight-forward.

jleibs · 2023-07-19T15:52:42Z

crates/re_types/src/datatypes/mat3x3_ext.rs

+impl From<[Vec3D; 3]> for Mat3x3 {
+    #[inline]
+    #[rustfmt::skip]
+    fn from(v: [Vec3D; 3]) -> Self {
+        Self([
+            v[0].x(), v[0].y(), v[0].z(),
+            v[1].x(), v[1].y(), v[1].z(),
+            v[2].x(), v[2].y(), v[2].z(),
+        ])
+    }
+}
+
+impl From<Mat3x3> for [Vec3D; 3] {
+    fn from(val: Mat3x3) -> Self {
+        [
+            [val.0[0], val.0[1], val.0[2]].into(), //
+            [val.0[3], val.0[4], val.0[5]].into(), //
+            [val.0[6], val.0[7], val.0[8]].into(), //
+        ]
+    }
+}
+
+impl From<[[f32; 3]; 3]> for Mat3x3 {
+    #[inline]
+    fn from(v: [[f32; 3]; 3]) -> Self {
+        Self::from([Vec3D(v[0]), Vec3D(v[1]), Vec3D(v[2])])
+    }
+}


As discussed, these 3 make me a bit nervous. We could be much more explicit with constructor-APIs like:

Mat3x3::from_column_vecs(...);

jleibs · 2023-07-19T15:56:55Z

crates/re_types/src/datatypes/mat3x3_ext.rs

+impl<Idx> std::ops::Index<Idx> for Mat3x3
+where
+    Idx: std::slice::SliceIndex<[f32]>,
+{
+    type Output = Idx::Output;
+
+    #[inline]
+    fn index(&self, index: Idx) -> &Self::Output {
+        &self.0[index]
+    }
+}


1-D indexing on a Mat3x3 feels weird to me and implicitly leaks storage details. 2d indexing of (row, col) however, is standard-enough notation to make sense.

jleibs · 2023-07-19T15:59:50Z

crates/re_types/src/datatypes/transform3d_ext.rs

+                rotation,
+                scale,
+                from_parent: _,
+            }) => glam::Affine3A::from_scale_rotation_translation(


Lol, of course we choose the opposite order of glam

the annoying thing about glams order there is that everything else is logically applies right to left. like projection * view * world * object, but then for from_scale_rotation_translation it's the other way round again

scripts/ci/run_e2e_roundtrip_tests.py

Co-authored-by: Jeremy Leibs <[email protected]>

teh-cmc · 2023-07-19T17:30:46Z

As discussed, the extensions/constructors for matrices and vectors are just ported as is from the legacy.

I'll let someone more opinionated and more knowledgeable improve on all of that in a future PR (and ideally somewhat coherent across our three (!) SDKs).

@kpreid

…nts - 2023-07-27 (#2842) ## [0.8.0](v0.7.0...v0.8.0) - Infrastructure investments and more transform improvements - 2023-07-27 [Rerun](https://www.rerun.io/) is an easy-to-use visualization toolbox for computer vision and robotics. * Python: `pip install rerun-sdk` * Rust: `cargo add rerun` and `cargo install rerun-cli` * Online demo: <https://demo.rerun.io/version/0.8.0/> ### Overview & Highlights - `log_pinhole` is now easier to use in simple cases and supports non-RDF camera coordinates. [#2614](#2614) - You only need to set focal length and optional principal point instead of setting the full 3x3 matrix. - There is also a new argument: `camera_xyz` for setting the coordinate system. The default is RDF (the old default). This affects the visible camera frustum, how rays are projected when hovering a 2D image, and how depth clouds are projected. - The visualizer can now show coordinate arrows for all affine transforms within the view. [#2577](#2577) - Linestrips and oriented bounding boxes can now be logged via batch APIs in python. - See: `log_linestrips_2d`, `log_linestrips_3d`, [#2822](#2822) and `log_obbs` [#2823](#2823) - Rust users that build their own Viewer applications can now add fully custom Space Views. Find more information [here](https://www.rerun.io/docs/howto/extend-ui#custom-space-views-classes). - New optional `flush_timeout` specifies how long Rerun will wait if a TCP stream is disconnected during a flush. [#2821](#2821) - In Rust, `RecordingStream::connect` now requires `flush_timeout` specified as an `Option<Duration>`. - To keep default behavior, this can be specified using the `rerun::default_flush_time()` helper. - In Python `flush_init_sec` is now an optional argument to `rr.connect()` - In Rust, the `RecordingStream` now offers a stateful time API, similar to the Python APIs. [#2506](#2506) - You can now call `set_time_sequence`, `set_time_seconds`, and `set_time_nanos` directly on the `RecordingStream`, which will set the time for all subsequent logs using that stream. - This can be used as an alternative to the the previous `MsgSender::with_time` APIs. - The Rerun SDK now defaults to 8ms long microbatches instead of 50ms. This makes the default behavior more suitable for use-cases like real-time video feeds. [#2220](#2220) - Check out [the microbatching docs](https://www.rerun.io/docs/reference/sdk-micro-batching) for more information on fine-tuning the micro-batching behavior. - The web viewer now incremental loads `.rrd` files when streaming over HTTP. [#2412](#2412) ![Open Photogrammetry Preview](https://static.rerun.io/9fa26e73a197690e0403cd35f29e31c2941dea36_release_080_photogrammetry_full.png) ### Ongoing Refactors - There have been a number of significant internal changes going on during this release with little visible impact. This work will land across future releases, but is highlighted here since much of it is visible through the changelog. - The layout of the Viewer is now controlled by a Blueprint datastore. In the future this will allow for direct API control of the layout and configuration of the Viewer. A very early prototype of this functionality is available via the `rerun.experimental` module in Python. - An entirely new code-generation framework has been brought online for Rust, Python and C++. This will eventually enable new object-centric APIs with a more scalable, consistent, and ergonomic experience. - Bringup of C++ support is now underway and will eventually become our third officially supported SDK language. ### Known Regressions - Due to the Blueprint storage migration, blueprint persistence on web is currently broken. Will be resolved in: [#2579](#2579) ### In Detail #### 🐍 Python SDK - Clean up warnings printed when `rr.init` hasn't been called [#2209](#2209) - Normalise Python typing syntax to 3.8+ [#2361](#2361) - Simpler, sturdier stateful time tracking in both SDKs [#2506](#2506) - Fix not taking np.array for single colors [#2569](#2569) - Add a basic pyright config [#2610](#2610) - Improve `log_pinhole` and support non-RDF pinholes [#2614](#2614) - Expose batch APIs for linestrips [#2822](#2822) - Expose batch APIs for oriented bounding boxes [#2823](#2823) #### 🦀 Rust SDK - Add example for adding custom Space Views [#2328](#2328) - Simpler, sturdier stateful time tracking in both SDKs [#2506](#2506) - Automagic flush when `take()`ing a `MemorySinkStorage` [#2632](#2632) - Logging SDK: Log warnings if user data is dropped [#2630](#2630) - Add support for `RecordingStream::serve` [#2815](#2815) #### 🌁 Viewer Improvements - Better handle scroll-to-zoom in 3D views [#1764](#1764) - Add command to screenshot the application [#2293](#2293) - Show layout in blueprint tree view [#2465](#2465) - Double-click to select entity [#2504](#2504) - Add Rerun.io link/text in top bar [#2540](#2540) - New auto-layout of space views [#2558](#2558) - Add 'Dump datastore' command to palette [#2564](#2564) - Support any `dtype` for depth images [#2602](#2602) - Change "Save Selection" command to Cmd+Alt+S [#2631](#2631) - Consistent transform visualization for all entities with transforms [#2577](#2577) - Improve `log_pinhole` and support non-RDF pinholes [#2614](#2614) #### 🚀 Performance Improvements - Flush the batches every 8ms instead of 50 ms [#2220](#2220) - Replace `image` crate jpeg decoder with zune-jpeg [#2376](#2376) - Stream `.rrd` files when loading via http [#2412](#2412) #### 🪳 Bug Fixes - Fix deadlock when misusing the Caches [#2318](#2318) - Fix unstable order/flickering of "shown in" space view list on selection [#2327](#2327) - Fix transforms not applied to connections from transform context [#2407](#2407) - Fix texture clamping and color gradient selection being displayed incorrectly [#2394](#2394) - Fix projected ray length [#2482](#2482) - Tweak the depth bias multiplier for WebGL [#2491](#2491) - Clip image zoom rectangle [#2505](#2505) - Fix missing feature flags for benchmarks [#2515](#2515) - `run_all.py` script fixes [#2519](#2519) - Update egui_tiles with fix for drag-and-drop-panic [#2555](#2555) - Convert objectron proto.py back to using typing.List [#2559](#2559) - Exclude from `objectron/proto/objectron/proto.py` from `just py-format` [#2562](#2562) - Fix pinhole visualization not working with camera extrinsics & intrinsics on the same path [#2568](#2568) - Fix: always auto-layout spaceviews until the user interveens [#2583](#2583) - Fix freeze/crash when logging large times [#2588](#2588) - Update egui_tiles to fix crash [#2598](#2598) - Fix clicking object with single instance (of every component) selecting instance instead of entity [#2573](#2573) - Cleanup internal data-structures when process has been forked [#2676](#2676) - Fix shutdown race-condition by introducing a flush_timeout before dropping data [#2821](#2821) - Fix ui-scale based point/line sizes incorrectly scaled when zooming based on horizontal dimension [#2805](#2805) - Fix visibility toggle for maximized Space Views [#2806](#2806) - Fix loading file via CLI [#2807](#2807) - Fix disconnected space APIs in Python SDK [#2832](#2832) - Avoid unwrap when generating authkey [#2804](#2804) #### 🧑‍🏫 Examples - Add example template [#2392](#2392) - Show hidden url search param in `app.rerun.io` [#2455](#2455) - Minimal example of running an intel realsense depth sensor live [#2541](#2541) - Add a simple example to display Open Photogrammetry Format datasets [#2512](#2512) - Move `examples/api_demo` -> `tests/test_api` [#2585](#2585) #### 📚 Docs - Docs: link to `rr.save` and suggest `rerun` instead of `python -m rerun` [#2586](#2586) - Update docs about transforms [#2496](#2496) - Fixup remaining usages of log_rigid3 in docs [#2831](#2831) #### 🎨 Renderer Improvements - Expose type erased draw data that can be consumed directly [#2300](#2300) - Use less `mut` when using `RenderContext` [#2312](#2312) #### 🧑‍💻 Dev-experience - Better error messages in build.rs [#2173](#2173) - Recommend sccache in CONTRIBUTING.md [#2245](#2245) - introduce `re_tracing` [#2283](#2283) - lint: standardize formatting of let-else-return statements [#2297](#2297) - Centralized build tools in `re_build_tools` [#2331](#2331) - Lint for explicit quotes [#2332](#2332) - Added example screenshot instructions in `just upload --help` [#2454](#2454) - Added support for puling image from an URL to `upload_image.py` [#2462](#2462) - `setup_dev.sh` now installs pngcrush [#2470](#2470) - Added docs/code-examples to the directories checked by py-lint and py-format [#2476](#2476) - Link to demo in PR + check checkboxes [#2543](#2543) - Add script to find external issues we haven't commented on [#2532](#2532) - Move CI-related scripts to its own folder [#2561](#2561) - Render PR description as template [#2563](#2563) - Add basic testing automation against all version of Python using nox [#2536](#2536) - Run clippy on public API too [#2596](#2596) - Bump all `py-lint`-related package versions [#2600](#2600) - Crates publishing script [#2604](#2604) - Fix rust docs deploy [#2615](#2615) - Add support for .gitignore to scripts/lint.py [#2666](#2666) #### 🗣 Refactors - Refactor space-view dependencies: - Move spatial space view to its own crate [#2286](#2286) - Separate crate for bar chart space view [#2322](#2322) - Separate crate for time series space view [#2324](#2324) - Separate crate for tensor space view [#2334](#2334) - Separate viewport related files out to a new re_viewport crate [#2251](#2251) - Remove timepanel dependency from viewport [#2256](#2256) - New trait system for SpaceViews: - Initial Space View trait & port of text space views to the new Space View trait system [#2281](#2281) - Extend/iterate on SpaceViewClass framework with SceneContext & port SpatialSpaceView scene parts [#2304](#2304) - Finalize move of SpatialSpaceView to SpaceViewClass trait framework [#2311](#2311) - Typename cleanup in SpaceViewClass framework [#2321](#2321) - Automatic fallback for unrecognized Space View Class, start removing old ViewCategory [#2357](#2357) - Rename ScenePart -> ViewPartSystem + related renamings [#2674](#2674) - Dynamically registered space view (part/context) systems [#2688](#2688) - Viewer's command queue is now a channel, allowing to queue commands without mutable access [#2339](#2339) - Break up app.rs into parts [#2303](#2303) - Break out `re_log_types::component_types` as `re_components` [#2258](#2258) - Introduce StoreHub and rename Recording->Store [#2301](#2301) - Move StoreHub out of the Viewer during Update [#2330](#2330) - Expand CommandSender to support SystemCommand [#2344](#2344) - Use `camino` crate for UTF8 paths in `re_types_builder` [#2637](#2637) - Separate 2d & 3d spaceview classes, removal of `ViewCategory`, `SpaceViewClass` driven spawn heuristics [#2716](#2716) - Move object property heuristics to heuristics.rs [#2764](#2764) #### 📦 Dependencies - Version `rand` & friends at workspace level [#2508](#2508) - Update to PyO3 0.19 [#2350](#2350) - Pin `half` to `2.2.1` [#2587](#2587) #### 📘 Blueprint Changes - Drive blueprints off of a DataStore [#2010](#2010) - Split SpaceView -> SpaceViewState + SpaceViewBlueprint [#2188](#2188) - Split the Blueprint into AppBlueprint and ViewportBlueprint [#2358](#2358) - Swap the naming of Viewport and ViewportBlueprint [#2595](#2595) - Basic persistence for blueprints [#2578](#2578) #### 🏭 New Codegen Framework - Codegen/IDL 1: add more build tools [#2362](#2362) - Codegen/IDL 2: introduce `re_types_builder` [#2363](#2363) - Codegen/IDL 3: introduce `re_types` [#2369](#2369) - Codegen/IDL 4: definitions for a `Points2D` archetype [#2370](#2370) - Codegen/IDL 5: auto-generated Python code for `Points2D` [#2374](#2374) - Codegen/IDL 7: handwritten Python tests and extensions for `Points2D` [#2410](#2410) - Codegen/IDL 6: auto-generated Rust code for `Points2D` [#2375](#2375) - Codegen/IDL 8: handwritten Rust tests and extensions for `Points2D` [#2432](#2432) - Codegen'd Rust/Arrow 1: upgrading to actual `TokenStream`s [#2484](#2484) - Codegen'd Rust/Arrow 2: matching legacy definitions [#2485](#2485) - Codegen'd Rust/Arrow 3: misc fixes & improvements [#2487](#2487) - Codegen'd Rust/Arrow 4: out-of-sync definitions CI detection [#2545](#2545) - Codegen'd Rust/Arrow 5: doc, definitions and regression tests for combinatorial affixes [#2546](#2546) - Codegen'd Rust/Arrow 6: serialization [#2549](#2549) - Codegen'd Rust/Arrow 7: deserialization [#2554](#2554) - Codegen'd Rust/Arrow 8: carry extension metadata across transparency layers [#2570](#2570) - Codegen'd Rust/Arrow 9: Rust backport! [#2571](#2571) - End-to-end cross-language roundtrip tests for our archetypes [#2601](#2601) - Automatically derive `Debug` and `Clone` in Rust backend [#2613](#2613) - Generating (de)serialization code for dense unions in Rust backend [#2626](#2626) - Fix `FixedSizeList` deserialization edge-case + trivial optimizations [#2673](#2673) - Make `Datatype` & `Component` both inherit from `Loggable` [#2677](#2677) - Roundtrip-able `Transform3D`s [#2669](#2669) - Don't inline recursive datatypes in Rust backend [#2760](#2760) - Automatically derive `tuple_struct` attr and trivial `From` impls where possible [#2772](#2772) - Introduce roundtrip-able `Points3D` archetype (py + rs) [#2774](#2774) - Add `fmt::Debug` implementations to various types. [#2784](#2784) (thanks [@kpreid](https://github.com/kpreid)!) - Isolate testing types in Rust backend [#2810](#2810) - Fix out-of-sync codegen hash [#2567](#2567) - Python backport: add `log_any()` [#2581](#2581) - Integrate unit examples into codegen stack [#2590](#2590) - Disable codegen on windows [#2592](#2592) - Python codegen: big cleaning and paving the way towards transforms [#2603](#2603) - Automatically assume arrow transparency for components [#2608](#2608) - Fix wrong path being `rerun_if_changed()` in `compute_dir_hash` [#2612](#2612) - Support transparency at the semantic layer [#2611](#2611) - Don't use builtin `required` anymore, introduce `nullable` instead [#2619](#2619) - Rust codegen: generate proper docstrings [#2668](#2668) - Support nullable Arrow unions using virtual union arms [#2708](#2708) - Introduce support for querying Archetypes [#2743](#2743) - Introduce legacy shims and migrate DataCell to re_types::Component [#2752](#2752) #### 🌊 Starting work on C++ - Seed of C and C++ SDKs [#2594](#2594) - Move C++ SDK to own folder [#2624](#2624) - C++ codegen [#2678](#2678) - C++ codegen for reporting arrow data type for structs [#2756](#2756) - Don't inline recursive datatypes in C++ backend [#2765](#2765) - C++ codegen to_arrow_data_type for unions [#2766](#2766) - C++ codegen arrow serialize non-union components/datatypes without nested rerun types [#2820](#2820) - C++ codegen of structs and unions [#2707](#2707) - Fix cpp formatter differences [#2773](#2773) #### 🤷‍♂️ Other - test_api: set different app_id based on what test is run [#2599](#2599) - Introduce `rerun compare` to check whether 2 rrd files are functionally equivalent [#2597](#2597) - Remove `files.exclude` in vscode settings [#2621](#2621) - Support feature-gated rust attributes [#2813](#2813) ### Checklist * [x] I have read and agree to [Contributor Guide](https://github.com/rerun-io/rerun/blob/main/CONTRIBUTING.md) and the [Code of Conduct](https://github.com/rerun-io/rerun/blob/main/CODE_OF_CONDUCT.md) * [x] I've included a screenshot or gif (if applicable) * [x] I have tested [demo.rerun.io](https://demo.rerun.io/pr/2842) (if applicable) - [PR Build Summary](https://build.rerun.io/pr/2842) - [Docs preview](https://rerun.io/preview/pr%3Arelease-0.8/docs) - [Examples preview](https://rerun.io/preview/pr%3Arelease-0.8/examples)

teh-cmc added 🦀 Rust API Rust logging API codegen/idl labels Jul 11, 2023

teh-cmc force-pushed the cmc/hope_rust_transforms branch 15 times, most recently from a83165e to 17dd67d Compare July 17, 2023 18:57

teh-cmc changed the base branch from main to cmc/rust_virtual_union_arms July 17, 2023 18:58

teh-cmc changed the title ~~End-to-end Rust vertical for new Transform3Ds~~ End-to-end vertical for new Transform3Ds Jul 17, 2023

teh-cmc force-pushed the cmc/hope_rust_transforms branch 6 times, most recently from 3223040 to ca913b7 Compare July 18, 2023 13:47

teh-cmc force-pushed the cmc/rust_virtual_union_arms branch from 4dec55e to e942b0b Compare July 19, 2023 09:00

Base automatically changed from cmc/rust_virtual_union_arms to main July 19, 2023 10:16

add missing rust attributes to transform definitions

15a0531

teh-cmc force-pushed the cmc/hope_rust_transforms branch 2 times, most recently from 2747f51 to 2585050 Compare July 19, 2023 15:16

teh-cmc added 14 commits July 19, 2023 17:23

update test_api to use new Transform archetype

bd9a06e

update experimental.py to expose Transform3D

6780f25

add python doc example for Transform3D + include it in generated code

665e36a

add rust doc example for Transform3D + include it in generated code

de8dc65

add --full-dump arg to roundtrip tester

ae6a6a8

improved DataTable::similar diagnostics

01b238d

add clang stuff to gitignore

31ad0af

add byte-level diff diagnostics to DataTable::similar

6421db4

improved Transform3D rust2rust unit test

50806fd

rust codegen: specify legal type tags in datatype

60cf680

improved rust/python roundtrip test suite

7d650fd

fix Transform3D's null matrix serialization in python sdk

8c19c05

codegen

4c5db73

fix broken type hint

ab46e0b

teh-cmc force-pushed the cmc/hope_rust_transforms branch from b073dd3 to ab46e0b Compare July 19, 2023 15:23

teh-cmc marked this pull request as ready for review July 19, 2023 15:25

teh-cmc added 2 commits July 19, 2023 17:26

codegen

8ec3238

force disable batching when running roundtrip diffs

15ddf94

teh-cmc added the 🐍 Python API Python logging API label Jul 19, 2023

jleibs approved these changes Jul 19, 2023

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teh-cmc and others added 4 commits July 19, 2023 18:24

bruh

1357542

codegen

073d82f

Update scripts/ci/run_e2e_roundtrip_tests.py

6d21366

Co-authored-by: Jeremy Leibs <[email protected]>

OH CMON JUST LEMME MERGE THIS THING ALREADY

4a02eb7

teh-cmc merged commit edaf2e1 into main Jul 19, 2023

teh-cmc deleted the cmc/hope_rust_transforms branch July 19, 2023 17:44

teh-cmc mentioned this pull request Jul 21, 2023

Transform3D cross-language roundtrip tests #2645

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jleibs mentioned this pull request Jul 27, 2023

Release 0.8 - Infrastructure investments and more transform improvements - 2023-07-27 #2842

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Roundtrip-able `Transform3D`s #2669

Roundtrip-able `Transform3D`s #2669

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Roundtrip-able Transform3Ds #2669

Roundtrip-able Transform3Ds #2669

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Roundtrip-able `Transform3D`s #2669

Roundtrip-able `Transform3D`s #2669

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