Imu support

crates/re_log_types/src/component_types/imu.rs

@@ -0,0 +1,25 @@
+use crate::{Component, EntityPath};
+use arrow2_convert::{ArrowDeserialize, ArrowField, ArrowSerialize};
+
+use super::{Point3D, Quaternion};
+
+#[derive(Clone, Debug, PartialEq, ArrowField, ArrowSerialize, ArrowDeserialize)]
+pub struct ImuData {
+    pub accel: Point3D,
+    pub gyro: Point3D,
+    pub mag: Option<Point3D>,
+    pub orientation: Quaternion,
+}
+
+impl ImuData {
+    pub fn entity_path() -> EntityPath {
+        "imu_data".into()
+    }
+}
+
+impl Component for ImuData {
+    #[inline]
+    fn name() -> crate::ComponentName {
+        "rerun.imu".into()
+    }
+}

crates/re_log_types/src/component_types/mod.rs

@@ -23,6 +23,7 @@ mod class_id;
 mod color;
 pub mod context;
 pub mod coordinates;
+mod imu;
 mod instance_key;
 mod keypoint_id;
 mod label;
@@ -48,6 +49,7 @@ pub use class_id::ClassId;
 pub use color::ColorRGBA;
 pub use context::{AnnotationContext, AnnotationInfo, ClassDescription};
 pub use coordinates::ViewCoordinates;
+pub use imu::ImuData;
 pub use instance_key::InstanceKey;
 pub use keypoint_id::KeypointId;
 pub use label::Label;
@@ -74,7 +76,7 @@ pub use vec::{Vec2D, Vec3D, Vec4D};
 
 lazy_static! {
     //TODO(john): use a run-time type registry
-    static ref FIELDS: [Field; 27] = [
+    static ref FIELDS: [Field; 28] = [
         <AnnotationContext as Component>::field(),
         <Arrow3D as Component>::field(),
         <Box3D as Component>::field(),
@@ -102,6 +104,7 @@ lazy_static! {
         <Vec3D as Component>::field(),
         <ViewCoordinates as Component>::field(),
         <NodeGraph as Component>::field(),
+        <ImuData as Component>::field(),
     ];
 }
 

crates/re_log_types/src/lib.rs

@@ -44,7 +44,7 @@ pub use self::component_types::AnnotationContext;
 pub use self::component_types::Arrow3D;
 pub use self::component_types::MsgId;
 pub use self::component_types::ViewCoordinates;
-pub use self::component_types::{EncodedMesh3D, Mesh3D, MeshFormat, MeshId, RawMesh3D};
+pub use self::component_types::{EncodedMesh3D, ImuData, Mesh3D, MeshFormat, MeshId, RawMesh3D};
 pub use self::data::*;
 pub use self::data_cell::{DataCell, DataCellError, DataCellResult};
 pub use self::data_row::{DataRow, DataRowError, DataRowResult};

crates/re_viewer/src/depthai/depthai.rs

@@ -236,14 +236,14 @@ impl Default for Error {
     }
 }
 
-#[derive(serde::Deserialize, serde::Serialize, Clone, Copy, PartialEq, fmt::Debug)]
+#[derive(serde::Deserialize, serde::Serialize, Clone, PartialEq, fmt::Debug)]
 pub struct Device {
     pub id: DeviceId,
     // Add more fields later
 }
 impl Default for Device {
     fn default() -> Self {
-        Self { id: -1 }
+        Self { id: "".to_string() }
     }
 }
 
@@ -283,13 +283,15 @@ pub struct State {
     pub neural_networks: Vec<AiModel>,
 }
 
+// Kind of dangerous, IMPORTANT: Make sure all ChannelId variants are covered
 fn all_subscriptions() -> Vec<ChannelId> {
     vec![
         ChannelId::ColorImage,
         ChannelId::LeftMono,
         ChannelId::RightMono,
         ChannelId::DepthImage,
         ChannelId::PointCloud,
+        ChannelId::ImuData,
     ]
 }
 
@@ -339,6 +341,7 @@ pub enum ChannelId {
     DepthImage,
     PointCloud,
     PinholeCamera,
+    ImuData,
 }
 
 use lazy_static::lazy_static;
@@ -392,14 +395,15 @@ impl State {
     }
 
     pub fn set_subscriptions_from_space_views(&mut self, visible_space_views: Vec<&SpaceView>) {
+        // If any bool in the vec is true, the channel is currently visible in the ui somewhere
         let mut visibilities = HashMap::<ChannelId, Vec<bool>>::from([
             (ChannelId::ColorImage, Vec::new()),
             (ChannelId::LeftMono, Vec::new()),
             (ChannelId::RightMono, Vec::new()),
             (ChannelId::DepthImage, Vec::new()),
             (ChannelId::PointCloud, Vec::new()),
         ]);
-
+        // Fill in visibilities
         for space_view in visible_space_views.iter() {
             let mut property_map = space_view.data_blueprint.data_blueprints_projected();
             for entity_path in space_view.data_blueprint.entity_paths().iter() {
@@ -411,13 +415,14 @@ impl State {
             }
         }
 
+        // First add subscriptions that are always possible in terms of ui (no enable/disable buttons for these)
         let mut possible_subscriptions = Vec::<ChannelId>::from([
             ChannelId::ColorImage,
             ChannelId::LeftMono,
             ChannelId::RightMono,
+            ChannelId::ImuData,
         ]);
-
-        // Non default subscriptions
+        // Now add non default subscriptions
         if self.device_config.config.depth.is_some() {
             possible_subscriptions.push(ChannelId::DepthImage);
             if let Some(depth) = self.device_config.config.depth {
@@ -427,6 +432,7 @@ impl State {
             }
         }
 
+        // Filter visibilities, include those that are currently visible and also possible (example pointcloud enabled == pointcloud possible)
         let mut subscriptions = visibilities
             .iter()
             .filter_map(|(channel, vis)| {
@@ -516,7 +522,7 @@ impl State {
                     match error.action {
                         ErrorAction::None => (),
                         ErrorAction::FullReset => {
-                            self.set_device(-1);
+                            self.set_device("".into());
                         }
                     }
                 }
@@ -528,7 +534,7 @@ impl State {
             if poll_instant.elapsed().as_secs() < 2 {
                 return;
             }
-            if self.selected_device.id == -1 {
+            if self.selected_device.id == "" {
                 self.backend_comms.get_devices();
             }
             self.poll_instant = Some(Instant::now());
@@ -551,7 +557,7 @@ impl State {
             .ws
             .connected
             .load(std::sync::atomic::Ordering::SeqCst)
-            || self.selected_device.id == -1
+            || self.selected_device.id == ""
         {
             return;
         }
@@ -564,4 +570,4 @@ impl State {
     }
 }
 
-pub type DeviceId = i64; // i64 because of serialization
+pub type DeviceId = String; // i64 because of serialization