isaac_sim_bridge/camera/
depth.rs

1// SPDX-License-Identifier: MPL-2.0
2use std::sync::OnceLock;
3
4use crate::channel::{channel_singleton, Channel};
5use crate::ffi::CameraDepthMeta;
6use crate::sensor::Sensor;
7
8/// Type-level marker for the per-pixel depth (metres, float32) camera channel.
9pub struct CameraDepth;
10
11impl Sensor for CameraDepth {
12    const NAME: &'static str = "camera_depth";
13}
14
15pub type Callback = Box<dyn Fn(&str, &[f32], &CameraDepthMeta) + Send + Sync + 'static>;
16
17#[unsafe(no_mangle)]
18pub extern "C" fn isaac_sim_bridge_channel_camera_depth() -> *const Channel<Callback> {
19    static SLOT: OnceLock<Box<Channel<Callback>>> = OnceLock::new();
20    channel_singleton(&SLOT)
21}
22
23fn channel() -> &'static Channel<Callback> {
24    unsafe { &*isaac_sim_bridge_channel_camera_depth() }
25}
26
27/// Register a callback to receive every depth camera frame the bridge dispatches.
28/// The closure runs on the bridge thread; keep it bounded.
29pub fn register_camera_depth_consumer<F>(cb: F)
30where
31    F: Fn(&str, &[f32], &CameraDepthMeta) + Send + Sync + 'static,
32{
33    channel().register(Box::new(cb));
34}
35
36/// Fan out a single depth camera frame to all registered consumers.
37pub fn dispatch_camera_depth(source_id: &str, depths: &[f32], meta: &CameraDepthMeta) {
38    channel().for_each(|cb| cb(source_id, depths, meta));
39}
40
41/// Number of currently registered depth camera consumers.
42pub fn camera_depth_consumer_count() -> usize {
43    channel().count()
44}
45
46/// Entry point called by the C++ bridge on each OmniGraph tick.
47pub fn forward_camera_depth(source_id: &str, depths: &[f32], meta: &CameraDepthMeta) {
48    log::debug!(
49        "[isaac-sim-rs] forward_camera_depth: source='{}' wxh={}x{} samples={}",
50        source_id,
51        meta.width,
52        meta.height,
53        depths.len()
54    );
55    dispatch_camera_depth(source_id, depths, meta);
56}
57
58#[cfg(test)]
59mod tests {
60    use super::*;
61    use std::sync::atomic::{AtomicUsize, Ordering};
62    use std::sync::Arc;
63
64    fn fake_meta(w: i32, h: i32) -> CameraDepthMeta {
65        CameraDepthMeta {
66            width: w,
67            height: h,
68            fx: 0.0,
69            fy: 0.0,
70            cx: 0.0,
71            cy: 0.0,
72            timestamp_ns: 0,
73        }
74    }
75
76    #[test]
77    fn registered_consumer_receives_dispatch_with_source() {
78        let count = Arc::new(AtomicUsize::new(0));
79        let count_clone = Arc::clone(&count);
80        let n_baseline = camera_depth_consumer_count();
81
82        register_camera_depth_consumer(move |src, depths, meta| {
83            assert_eq!(src, "/World/Camera/depth");
84            assert_eq!(meta.width, 2);
85            assert_eq!(meta.height, 2);
86            assert_eq!(depths.len(), 4);
87            count_clone.fetch_add(1, Ordering::SeqCst);
88        });
89
90        assert_eq!(camera_depth_consumer_count(), n_baseline + 1);
91
92        let depths = [0.5_f32, 1.0, 1.5, 2.0];
93        dispatch_camera_depth("/World/Camera/depth", &depths, &fake_meta(2, 2));
94
95        assert_eq!(count.load(Ordering::SeqCst), 1);
96    }
97}
isaac_sim_bridge/camera/depth.rs

isaac_sim_bridge/camera/
depth.rs
