schiebung-rerun

Rerun visualization adapter for the schiebung transform buffer.

RerunObserver implements BufferObserver and bulk-logs every batched buffer update to a Rerun recording stream via the columnar send_columns API. All dynamic transforms land on a single tf entity and all static transforms on a single tf_static entity (ROS / Rerun 0.32+ convention) — so a full transform-graph snapshot (e.g. a multi-sensor rig or a robot pose) becomes at most two columnar writes per batch rather than N row-oriented logs. The parent/child relationship of each edge is carried as named-frames data on the Transform3D archetype, so collapsing the entity paths does not change the transform graph the 3D viewer builds.

• Documentation: https://maximaerz.github.io/schiebung/
• Repository: https://github.com/MaxiMaerz/schiebung
• Rerun API guide: https://maximaerz.github.io/schiebung/schiebung-visualizer/rust/

At a glance

use rerun::RecordingStreamBuilder;
use schiebung::BufferTree;
use schiebung_rerun::RerunObserver;

let rec = RecordingStreamBuilder::new("my_app").spawn()?;
let mut buffer = BufferTree::new();

let observer = RerunObserver::new(rec.clone(), true, "stable_time".to_string());
buffer.register_observer(Box::new(observer));

// Every `buffer.update(&[...])` now also gets logged to Rerun.
# Ok::<(), Box<dyn std::error::Error>>(())

Examples

See the examples/ directory in the repo for a Sun-Earth-Moon demo and a URDF-loaded 6-DOF arm demo.

License

MIT