mvg: rerun-io api change

strawlab · Feb 8, 2025 · 96adb02 · 96adb02
1 parent c20dafd
commit 96adb02
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Showing 2 changed files with 8 additions and 4 deletions.
diff --git a/braidz-export-rrd/src/main.rs b/braidz-export-rrd/src/main.rs
@@ -4,7 +4,7 @@ use clap::{Parser, ValueEnum};
 use eyre::{self as anyhow, WrapErr};
 use frame_source::{ImageData, Timestamp};
 use mp4_writer::Mp4Writer;
-use mvg::rerun_io::{cam_geom_to_rr_pinhole_archetype as to_pinhole, AsRerunTransform3D};
+use mvg::rerun_io::AsRerunTransform3D;
 use rayon::prelude::*;
 use re_types::{
     archetypes::{EncodedImage, Pinhole, Points2D, Points3D},
@@ -205,7 +205,11 @@ impl OfflineBraidzRerunLogger {
                 let lin_cam = cam.linearize_to_cam_geom();
                 // This returns error in case of skew, because rerun's pinhole
                 // model does not support skew.
-                let re_cam = to_pinhole(&lin_cam, cam.width(), cam.height())?;
+                let re_cam = mvg::rerun_io::cam_geom_to_rr_pinhole_archetype(
+                    lin_cam.intrinsics(),
+                    cam.width(),
+                    cam.height(),
+                )?;
                 self.rec.log_static(lin_path.clone(), &re_cam)?;
 
                 let use_intrinsics = Some(cam.intrinsics().clone());

diff --git a/geometry/mvg/src/rerun_io.rs b/geometry/mvg/src/rerun_io.rs
@@ -111,11 +111,11 @@ fn pinhole_projection_component<R: RealField>(
 }
 
 pub fn cam_geom_to_rr_pinhole_archetype<R: RealField>(
-    cam: &cam_geom::Camera<R, cam_geom::IntrinsicParametersPerspective<R>>,
+    intrinsics: &cam_geom::IntrinsicParametersPerspective<R>,
     width: usize,
     height: usize,
 ) -> Result<re_types::archetypes::Pinhole, MvgError> {
-    let i = cam.intrinsics();
+    let i = intrinsics;
     if i.skew().f32().abs() > 1e-10 {
         return Err(MvgError::RerunUnsupportedIntrinsics);
     }