From 0fb18e6f73599b408af950a03cef0e9df01705c6 Mon Sep 17 00:00:00 2001
From: "google-labs-jules[bot]"
 <161369871+google-labs-jules[bot]@users.noreply.github.com>
Date: Thu, 12 Jun 2025 00:15:17 +0000
Subject: [PATCH 1/3] Add Cargo.toml and build.rs for Bazel workspaces

This commit introduces Cargo.toml files for the detector, tracker, and
examples workspaces to enable Rust tooling and standalone Cargo builds.

- detector/Cargo.toml: Defines the 'rtmo' library, which includes C++
  interoperability via the 'cxx' crate.
- detector/build.rs: Configured to compile the C++ sources (engine.cpp,
  rtmo.cpp) and link against dependencies like CUDA, TensorRT, and
  CVCUDA, mirroring the Bazel setup.
- tracker/Cargo.toml: Defines the 'tracker' library with its Rust
  dependencies and a path dependency on the 'rtmo' library.
- examples/Cargo.toml: Defines the 'image_demo' and 'video_demo'
  binaries, with path dependencies on 'rtmo' and 'tracker', along with
  other necessary crates.

These additions facilitate the use of standard Rust development tools and
workflows alongside the existing Bazel build system.
---
 detector/Cargo.toml | 21 +++++++++++++
 detector/build.rs   | 76 +++++++++++++++++++++++++++++++++++++++++++++
 examples/Cargo.toml | 30 ++++++++++++++++++
 tracker/Cargo.toml  | 31 ++++++++++++++++++
 4 files changed, 158 insertions(+)
 create mode 100644 detector/Cargo.toml
 create mode 100644 detector/build.rs
 create mode 100644 examples/Cargo.toml
 create mode 100644 tracker/Cargo.toml

diff --git a/detector/Cargo.toml b/detector/Cargo.toml
new file mode 100644
index 0000000..c4a5b25
--- /dev/null
+++ b/detector/Cargo.toml
@@ -0,0 +1,21 @@
+[package]
+name = "rtmo"
+version = "0.1.0" # Default version, can be adjusted
+edition = "2021"  # From MODULE.bazel (rust.toolchain)
+authors = ["Your Name <you@example.com>"] # Placeholder
+
+[lib]
+name = "rtmo"
+path = "src/lib.rs"
+
+[dependencies]
+cxx = "1.0.149"
+
+# For handling the C++ compilation and linking:
+[build-dependencies]
+cxx-build = "1.0.149" # Or a suitable build script helper if available via rules_rust
+
+# Potentially, if rtmo.rs is a separate module for the bridge
+# [[bin]]
+# name = "rtmo_bridge_bin" # Example if it were a binary
+# path = "src/rtmo.rs"
diff --git a/detector/build.rs b/detector/build.rs
new file mode 100644
index 0000000..f92c4f2
--- /dev/null
+++ b/detector/build.rs
@@ -0,0 +1,76 @@
+use std::path::PathBuf;
+
+fn main() {
+    println!("cargo:rerun-if-changed=src/rtmo.rs");
+    println!("cargo:rerun-if-changed=src/engine.cpp");
+    println!("cargo:rerun-if-changed=src/engine.hpp");
+    println!("cargo:rerun-if-changed=src/rtmo.cpp");
+    println!("cargo:rerun-if-changed=src/rtmo.hpp");
+
+    let manifest_dir = PathBuf::from(std::env::var("CARGO_MANIFEST_DIR").unwrap());
+    let workspace_root = manifest_dir.parent().unwrap_or(&manifest_dir); // Assuming detector is one level down from workspace root
+
+    // --- CUDA ---
+    // These are common paths. Adjust if your CUDA installation is different.
+    let cuda_include_path = PathBuf::from("/usr/local/cuda/include");
+    let cuda_lib_path = PathBuf::from("/usr/local/cuda/lib64");
+    println!("cargo:rustc-link-search=native={}", cuda_lib_path.display());
+    println!("cargo:rustc-link-lib=dylib=cudart"); // Link against CUDA runtime
+
+    // --- TensorRT ---
+    // Path relative to workspace root.
+    let tensorrt_base_path = workspace_root.join("repositories/tensorrt");
+    let tensorrt_include_path = tensorrt_base_path.join("include/x86_64-linux-gnu");
+    let tensorrt_lib_path = tensorrt_base_path.join("lib/x86_64-linux-gnu");
+
+    println!("cargo:rustc-link-search=native={}", tensorrt_lib_path.display());
+    println!("cargo:rustc-link-lib=dylib=nvinfer");
+    println!("cargo:rustc-link-lib=dylib=nvinfer_plugin");
+
+    // --- CVCUDA ---
+    // Path relative to workspace root.
+    let cvcuda_base_path = workspace_root.join("repositories/cvcuda");
+    let cvcuda_include_path = cvcuda_base_path.join("include");
+    let cvcuda_lib_path = cvcuda_base_path.join("lib");
+
+    println!("cargo:rustc-link-search=native={}", cvcuda_lib_path.display());
+    println!("cargo:rustc-link-lib=dylib=cvcuda");
+    println!("cargo:rustc-link-lib=dylib=nvcv_types");
+
+
+    // --- Build C++ files using cxx_build ---
+    let mut build = cxx_build::bridge("src/rtmo.rs"); // Path to the Rust file with CXX bridge
+    build
+        .file("src/engine.cpp")
+        .file("src/rtmo.cpp")
+        .include(&manifest_dir.join("src")) // for engine.hpp, rtmo.hpp
+        .include(&cuda_include_path)
+        .include(&tensorrt_include_path)
+        .include(&cvcuda_include_path)
+        .flag_if_supported("-std=c++17") // Assuming C++17, adjust if necessary
+        .flag_if_supported("-pthread"); // For TensorRT plugins
+
+    // Add any other necessary compiler flags or definitions
+    // e.g., .define("SOME_MACRO", "value")
+
+    // Linker arguments for specific libraries if needed (beyond simple -l flags)
+    // For TensorRT plugin, Bazel had: linkopts = ["-lpthread", "-Wl,--no-as-needed -ldl -lrt -Wl,--as-needed"]
+    // The -lpthread is covered by cargo:rustc-link-lib=pthread if cc crate doesn't add it.
+    // The cc crate usually handles pthread implicitly if specified with .flag("-pthread") for compiler and linker.
+    // Let's ensure pthread is linked.
+    println!("cargo:rustc-link-lib=dylib=pthread");
+    // For dlsym, rt_timer related symbols which might be needed by TensorRT
+    println!("cargo:rustc-link-lib=dylib=dl");
+    println!("cargo:rustc-link-lib=dylib=rt");
+
+
+    build.compile("rtmo_cpp_bridge");
+
+    println!("cargo:warning=This build.rs attempts to compile C++ dependencies. Ensure CUDA, TensorRT, and CVCUDA are correctly installed and paths are configured if issues arise.");
+    println!("cargo:warning=CUDA include path: {}", cuda_include_path.display());
+    println!("cargo:warning=CUDA lib path: {}", cuda_lib_path.display());
+    println!("cargo:warning=TensorRT include path: {}", tensorrt_include_path.display());
+    println!("cargo:warning=TensorRT lib path: {}", tensorrt_lib_path.display());
+    println!("cargo:warning=CVCUDA include path: {}", cvcuda_include_path.display());
+    println!("cargo:warning=CVCUDA lib path: {}", cvcuda_lib_path.display());
+}
diff --git a/examples/Cargo.toml b/examples/Cargo.toml
new file mode 100644
index 0000000..c1e48bc
--- /dev/null
+++ b/examples/Cargo.toml
@@ -0,0 +1,30 @@
+[package]
+name = "examples"
+version = "0.1.0"
+edition = "2021" # From MODULE.bazel (rust.toolchain)
+authors = ["Your Name <you@example.com>"] # Placeholder
+publish = false # Examples are typically not published
+
+[[bin]]
+name = "image_demo"
+path = "src/image_demo.rs"
+
+[[bin]]
+name = "video_demo"
+path = "src/video_demo.rs"
+
+[dependencies]
+rtmo = { path = "../detector" }
+tracker = { path = "../tracker" } # Needed by video_demo
+
+cxx = "1.0.149"
+image = "0.25.0"
+ab_glyph = "0.2.29"
+imageproc = "0.25.0"
+minifb = "0.28.0"
+video-rs = { version = "0.10.3", features = ["ndarray"] }
+
+# Note: Since image_demo does not use tracker, ab_glyph, imageproc, minifb, video-rs,
+# these will still be compiled if you do `cargo build --bin image_demo` because
+# they are listed as common dependencies. For example crates, this is often acceptable.
+# If strict separation is needed, they would need to be separate Cargo packages.
diff --git a/tracker/Cargo.toml b/tracker/Cargo.toml
new file mode 100644
index 0000000..07568ce
--- /dev/null
+++ b/tracker/Cargo.toml
@@ -0,0 +1,31 @@
+[package]
+name = "tracker"
+version = "0.1.0"
+edition = "2021" # From MODULE.bazel (rust.toolchain)
+authors = ["Your Name <you@example.com>"] # Placeholder
+
+[lib]
+name = "tracker"
+path = "src/lib.rs"
+
+[dependencies]
+rtmo = { path = "../detector" }
+nalgebra = "0.33.2"
+num = "0.4.3"
+thiserror = "2.0.12"
+
+[dev-dependencies]
+# rtmo = { path = "../detector" } # Already in [dependencies]
+# nalgebra = "0.33.2" # Already in [dependencies]
+# num = "0.4.3" # Already in [dependencies]
+# thiserror = "2.0.12" # Already in [dependencies]
+nearly_eq = "0.2.4"
+quickcheck = "1.0.3"
+rand = "0.8.5"
+
+# The tracker_test in BUILD.bazel uses srcs = glob(["src/*.rs"]),
+# which suggests tests might be inline or in files picked up by Cargo's
+# default test discovery (e.g. src/tests/some_test.rs or tests/integration_test.rs).
+# If tests are embedded within lib.rs or other src/*.rs files (like src/test_byte_tracker.rs),
+# Cargo will pick them up automatically. No specific [[test]] section is needed
+# unless there's a non-standard test file name or location.

From ee06a2e7690b35e2578ffd1238c723ce7b9ef015 Mon Sep 17 00:00:00 2001
From: "google-labs-jules[bot]"
 <161369871+google-labs-jules[bot]@users.noreply.github.com>
Date: Thu, 12 Jun 2025 00:29:11 +0000
Subject: [PATCH 2/3] The message is fine as is.

---
 Cargo.toml | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)
 create mode 100644 Cargo.toml

diff --git a/Cargo.toml b/Cargo.toml
new file mode 100644
index 0000000..106a80b
--- /dev/null
+++ b/Cargo.toml
@@ -0,0 +1,18 @@
+[workspace]
+members = [
+    "detector",
+    "tracker",
+    "examples",
+]
+resolver = "2"
+
+# Optional: Default members for `cargo build` and `cargo run` when in the root
+# default-members = ["examples"] # Or any specific crate you want to build/run by default
+
+# Optional: Common dependencies for the workspace can be defined here
+# [workspace.dependencies]
+# cxx = "1.0.149"
+# image = "0.25.0"
+# etc.
+# This allows member crates to inherit them using `dep_name.workspace = true`
+# For now, keeping it simple as per the plan.

From cf7f8836908851ca88b73f66d127a7d3a563df0a Mon Sep 17 00:00:00 2001
From: wep21 <daisuke.nishimatsu1021@gmail.com>
Date: Thu, 12 Jun 2025 11:11:00 +0900
Subject: [PATCH 3/3] update

Signed-off-by: wep21 <daisuke.nishimatsu1021@gmail.com>
---
 Cargo.lock            | 2665 +++++++++++++++++++++++++++++++++++++++++
 Cargo.toml            |   22 +-
 MODULE.bazel          |   58 +-
 detector/Cargo.toml   |   14 +-
 detector/build.rs     |    4 +-
 detector/src/rtmo.cpp |    4 +
 examples/Cargo.toml   |   12 +-
 tracker/Cargo.toml    |   17 +-
 8 files changed, 2706 insertions(+), 90 deletions(-)
 create mode 100644 Cargo.lock

diff --git a/Cargo.lock b/Cargo.lock
new file mode 100644
index 0000000..14f613d
--- /dev/null
+++ b/Cargo.lock
@@ -0,0 +1,2665 @@
+# This file is automatically @generated by Cargo.
+# It is not intended for manual editing.
+version = 4
+
+[[package]]
+name = "ab_glyph"
+version = "0.2.29"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ec3672c180e71eeaaac3a541fbbc5f5ad4def8b747c595ad30d674e43049f7b0"
+dependencies = [
+ "ab_glyph_rasterizer",
+ "owned_ttf_parser",
+]
+
+[[package]]
+name = "ab_glyph_rasterizer"
+version = "0.1.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c71b1793ee61086797f5c80b6efa2b8ffa6d5dd703f118545808a7f2e27f7046"
+
+[[package]]
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+version = "2.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
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+
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+checksum = "8e60d3430d3a69478ad0993f19238d2df97c507009a52b3c10addcd7f6bcb916"
+dependencies = [
+ "memchr",
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+
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+
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diff --git a/Cargo.toml b/Cargo.toml
index 106a80b..10e53cf 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -6,13 +6,15 @@ members = [
 ]
 resolver = "2"
 
-# Optional: Default members for `cargo build` and `cargo run` when in the root
-# default-members = ["examples"] # Or any specific crate you want to build/run by default
-
-# Optional: Common dependencies for the workspace can be defined here
-# [workspace.dependencies]
-# cxx = "1.0.149"
-# image = "0.25.0"
-# etc.
-# This allows member crates to inherit them using `dep_name.workspace = true`
-# For now, keeping it simple as per the plan.
+[workspace.package]
+edition = "2021"
+description = "Pose Track with RTMO and ByteTrack"
+homepage = "https://github.com/wep21/tensorrt-rtmo-rust"
+license = "MIT OR Apache-2.0"
+authors = [
+  "Daisuke Nishimatsu <daisuke.nishimatsu1021@gmail.com>",
+]
+readme = "README.md"
+repository = "https://github.com/wep21/tensorrt-rtmo-rus"
+rust-version = "1.81"
+version = "0.1.0"
diff --git a/MODULE.bazel b/MODULE.bazel
index 1420680..0e2e35c 100644
--- a/MODULE.bazel
+++ b/MODULE.bazel
@@ -26,51 +26,20 @@ use_repo(rust, "rust_toolchains")
 
 register_toolchains("@rust_toolchains//:all")
 
-crate = use_extension("@rules_rust//crate_universe:extensions.bzl", "crate")
-crate.spec(
-    package = "image",
-    version = "0.25.0",
+crate = use_extension(
+    "@rules_rust//crate_universe:extensions.bzl",
+    "crate",
 )
-crate.spec(
-    features = ["ndarray"],
-    package = "video-rs",
-    version = "0.10.3",
-)
-crate.spec(
-    package = "minifb",
-    version = "0.28.0",
-)
-crate.spec(
-    package = "thiserror",
-    version = "2.0.12",
-)
-crate.spec(
-    package = "nalgebra",
-    version = "0.33.2",
-)
-crate.spec(
-    package = "num",
-    version = "0.4.3",
-)
-crate.spec(
-    package = "nearly_eq",
-    version = "0.2.4",
-)
-crate.spec(
-    package = "quickcheck",
-    version = "1.0.3",
-)
-crate.spec(
-    package = "rand",
-    version = "0.8.5",
-)
-crate.spec(
-    package = "ab_glyph",
-    version = "0.2.29",
-)
-crate.spec(
-    package = "imageproc",
-    version = "0.25.0",
+
+crate.from_cargo(
+    name = "crates",
+    cargo_lockfile = "//:Cargo.lock",
+    manifests = [
+        "//:Cargo.toml",
+        "//detector:Cargo.toml",
+        "//examples:Cargo.toml",
+        "//tracker:Cargo.toml",
+    ],
 )
 crate.annotation(
     build_script_env = dict(
@@ -84,7 +53,6 @@ crate.annotation(
     crate = "rav1e",
     repositories = ["crates"],
 )
-crate.from_specs()
 use_repo(crate, "crates")
 
 bazel_dep(
diff --git a/detector/Cargo.toml b/detector/Cargo.toml
index c4a5b25..1dd9801 100644
--- a/detector/Cargo.toml
+++ b/detector/Cargo.toml
@@ -1,8 +1,8 @@
 [package]
 name = "rtmo"
-version = "0.1.0" # Default version, can be adjusted
-edition = "2021"  # From MODULE.bazel (rust.toolchain)
-authors = ["Your Name <you@example.com>"] # Placeholder
+version = { workspace = true }
+edition = { workspace = true }
+authors = { workspace = true }
 
 [lib]
 name = "rtmo"
@@ -11,11 +11,5 @@ path = "src/lib.rs"
 [dependencies]
 cxx = "1.0.149"
 
-# For handling the C++ compilation and linking:
 [build-dependencies]
-cxx-build = "1.0.149" # Or a suitable build script helper if available via rules_rust
-
-# Potentially, if rtmo.rs is a separate module for the bridge
-# [[bin]]
-# name = "rtmo_bridge_bin" # Example if it were a binary
-# path = "src/rtmo.rs"
+cxx-build = "1.0.149"
diff --git a/detector/build.rs b/detector/build.rs
index f92c4f2..c2629f2 100644
--- a/detector/build.rs
+++ b/detector/build.rs
@@ -19,7 +19,7 @@ fn main() {
 
     // --- TensorRT ---
     // Path relative to workspace root.
-    let tensorrt_base_path = workspace_root.join("repositories/tensorrt");
+    let tensorrt_base_path = workspace_root.join("/usr");
     let tensorrt_include_path = tensorrt_base_path.join("include/x86_64-linux-gnu");
     let tensorrt_lib_path = tensorrt_base_path.join("lib/x86_64-linux-gnu");
 
@@ -29,7 +29,7 @@ fn main() {
 
     // --- CVCUDA ---
     // Path relative to workspace root.
-    let cvcuda_base_path = workspace_root.join("repositories/cvcuda");
+    let cvcuda_base_path = workspace_root.join("/usr");
     let cvcuda_include_path = cvcuda_base_path.join("include");
     let cvcuda_lib_path = cvcuda_base_path.join("lib");
 
diff --git a/detector/src/rtmo.cpp b/detector/src/rtmo.cpp
index b3e9b47..e40e81a 100644
--- a/detector/src/rtmo.cpp
+++ b/detector/src/rtmo.cpp
@@ -1,6 +1,10 @@
 #include "rtmo.hpp"
 
+#if __has_include("rtmo/src/rtmo.rs.h")
+#include "rtmo/src/rtmo.rs.h"
+#else
 #include "rtmo.rs.h"
+#endif
 
 namespace rtmo {
 Rtmo::~Rtmo() {
diff --git a/examples/Cargo.toml b/examples/Cargo.toml
index c1e48bc..e6033b9 100644
--- a/examples/Cargo.toml
+++ b/examples/Cargo.toml
@@ -1,9 +1,8 @@
 [package]
 name = "examples"
-version = "0.1.0"
-edition = "2021" # From MODULE.bazel (rust.toolchain)
-authors = ["Your Name <you@example.com>"] # Placeholder
-publish = false # Examples are typically not published
+version = { workspace = true }
+edition = { workspace = true }
+authors = { workspace = true }
 
 [[bin]]
 name = "image_demo"
@@ -23,8 +22,3 @@ ab_glyph = "0.2.29"
 imageproc = "0.25.0"
 minifb = "0.28.0"
 video-rs = { version = "0.10.3", features = ["ndarray"] }
-
-# Note: Since image_demo does not use tracker, ab_glyph, imageproc, minifb, video-rs,
-# these will still be compiled if you do `cargo build --bin image_demo` because
-# they are listed as common dependencies. For example crates, this is often acceptable.
-# If strict separation is needed, they would need to be separate Cargo packages.
diff --git a/tracker/Cargo.toml b/tracker/Cargo.toml
index 07568ce..6749012 100644
--- a/tracker/Cargo.toml
+++ b/tracker/Cargo.toml
@@ -1,8 +1,8 @@
 [package]
 name = "tracker"
-version = "0.1.0"
-edition = "2021" # From MODULE.bazel (rust.toolchain)
-authors = ["Your Name <you@example.com>"] # Placeholder
+version = { workspace = true }
+edition = { workspace = true }
+authors = { workspace = true }
 
 [lib]
 name = "tracker"
@@ -15,17 +15,6 @@ num = "0.4.3"
 thiserror = "2.0.12"
 
 [dev-dependencies]
-# rtmo = { path = "../detector" } # Already in [dependencies]
-# nalgebra = "0.33.2" # Already in [dependencies]
-# num = "0.4.3" # Already in [dependencies]
-# thiserror = "2.0.12" # Already in [dependencies]
 nearly_eq = "0.2.4"
 quickcheck = "1.0.3"
 rand = "0.8.5"
-
-# The tracker_test in BUILD.bazel uses srcs = glob(["src/*.rs"]),
-# which suggests tests might be inline or in files picked up by Cargo's
-# default test discovery (e.g. src/tests/some_test.rs or tests/integration_test.rs).
-# If tests are embedded within lib.rs or other src/*.rs files (like src/test_byte_tracker.rs),
-# Cargo will pick them up automatically. No specific [[test]] section is needed
-# unless there's a non-standard test file name or location.