sophus 0.15.0

sophus - geometry for robotics and computer vision
Documentation 
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#![cfg(feature = "std")]

use sophus::{
    lie::Isometry3,
    prelude::*,
    sim::camera_simulator::CameraSimulator,
};
use sophus_image::{
    ImageSize,
    io::{
        save_as_png,
        save_as_tiff,
    },
};
use sophus_renderer::{
    RenderContext,
    camera::RenderCameraProperties,
    renderables::{
        Color,
        make_line3,
        make_mesh3_at,
        make_point3,
    },
};

pub async fn run_offscreen() {
    let render_state = RenderContext::new().await;

    let mut sim = CameraSimulator::new(
        &render_state,
        &RenderCameraProperties::default_from(ImageSize::new(639, 477)),
    );

    let mut renderables3d = vec![];
    let trig_points = [[0.0, 0.0, -0.1], [0.0, 1.0, 0.0], [1.0, 0.0, 0.0]];
    renderables3d.push(make_point3("points3", &trig_points, &Color::red(), 5.0));
    renderables3d.push(make_line3(
        "lines3",
        &[
            [[0.0, 0.0, 0.0], [1.0, 0.0, 0.0]],
            [[0.0, 0.0, 0.0], [0.0, 1.0, 0.0]],
            [[0.0, 0.0, 0.0], [0.0, 0.0, 1.0]],
        ],
        &Color::green(),
        5.0,
    ));
    let blue = Color::blue();
    renderables3d.push(make_mesh3_at(
        "mesh",
        &[(trig_points, blue)],
        Isometry3::trans_z(3.0),
    ));

    sim.update_3d_renderables(renderables3d);

    let result = sim.render(Isometry3::trans_z(-5.0)).await;

    save_as_png(&result.rgba_image.image_view(), "rgba.png").unwrap();

    let color_mapped_depth = result.depth_image.color_mapped();
    save_as_png(&color_mapped_depth.image_view(), "color_mapped_depth.png").unwrap();

    save_as_tiff(
        &result.depth_image.metric_depth().image_view(),
        "depth.tiff",
    )
    .unwrap();
}

fn main() {
    env_logger::init();

    pollster::block_on(run_offscreen());
}