Merge pull request #12 from ManifoldFR/topic/recording-id

Allow to set and get the stream's recording ID

Author: ManifoldFR

examples/ur5.py

@@ -7,7 +7,7 @@
 robot = erd.load("ur5")
 model = robot.model
 visual_model = robot.visual_model
-rr = pinocchio_rerun.RerunVisualizer(model, visual_model)
+rr = pinocchio_rerun.RerunVisualizer(model, visual_model, app_id = "UR5Visualizer", rec_id = "ur5")
 rr.loadViewerModel()
 q0 = pin.neutral(model)
 rr.display(q0)

python/module.cpp

@@ -38,10 +38,20 @@ PYMODULE() {
 
   bp::class_<RerunVisualizer, boost::noncopyable>("RerunVisualizer",
                                                   bp::no_init)
-      .def(bp::init<Model const &, GeometryModel const &>(
-          ("self"_a, "model", "geomModel")))
+      .def("__init__",
+           bp::make_constructor(
+               +[](const pinocchio::Model &model,
+                   const pinocchio::GeometryModel &geomModel,
+                   const std::string &appID, const std::string &recID) {
+                 return new RerunVisualizer(model, geomModel, appID, recID);
+               },
+               bp::default_call_policies(),
+               (bp::arg("model"), bp::arg("geom_model"),
+                bp::arg("app_id") = "RerunVisualizer",
+                bp::arg("rec_id") = "DefaultID")))
       .def(pinocchio::python::VisualizerPythonVisitor<RerunVisualizer>())
       .add_property("initialized", &RerunVisualizer::initialized)
+      .add_property("recordingID", &RerunVisualizer::recordingID)
       .def("switchTimeline", &RerunVisualizer::switchTimeline,
            ("self"_a, "name"_a), "Switch Rerun timelines.")
       .def("disableTimeline", &RerunVisualizer::disableTimeline,

src/rerun_visualizer.cpp

@@ -6,9 +6,12 @@
 namespace pinrerun {
 
 RerunVisualizer::RerunVisualizer(const pinocchio::Model &model,
-                                 const pinocchio::GeometryModel &geomModel)
-    : BaseVisualizer(model, geomModel, nullptr), stream("RerunVisualizer"),
-      m_prefix("pinocchio/" + model.name), m_initialized(false) {
+                                 const pinocchio::GeometryModel &geomModel,
+                                 const std::string &appID,
+                                 const std::string &recID)
+    : BaseVisualizer(model, geomModel, nullptr), stream(appID, recID),
+      m_prefix("pinocchio/" + model.name), m_initialized(false),
+      m_recordingID(recID) {
   stream.spawn().exit_on_failure();
   stream.set_time_seconds("stable_time", 0.0);
 }

src/rerun_visualizer.hpp

@@ -20,7 +20,9 @@ class RerunVisualizer : public BaseVisualizer {
 public:
   using BaseVisualizer::play;
   RerunVisualizer(const pinocchio::Model &model,
-                  const pinocchio::GeometryModel &geomModel);
+                  const pinocchio::GeometryModel &geomModel,
+                  const std::string &appID = "RerunVisualizer",
+                  const std::string &recID = "DefaultID");
 
   void loadViewerModel() override;
 
@@ -47,10 +49,13 @@ class RerunVisualizer : public BaseVisualizer {
 
   inline bool initialized() const { return m_initialized; }
 
+  std::string recordingID() const { return m_recordingID; }
+
 protected:
   void displayImpl() override;
   std::string m_prefix;
   bool m_initialized;
+  std::string m_recordingID;
 };
 
 } // namespace pinrerun