feat: add Cargo.toml and build.rs for Bazel workspaces

Cargo.toml

@@ -0,0 +1,20 @@
+[workspace]
+members = [
+    "detector",
+    "tracker",
+    "examples",
+]
+resolver = "2"
+
+[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"

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(

detector/Cargo.toml

@@ -0,0 +1,15 @@
+[package]
+name = "rtmo"
+version = { workspace = true }
+edition = { workspace = true }
+authors = { workspace = true }
+
+[lib]
+name = "rtmo"
+path = "src/lib.rs"
+
+[dependencies]
+cxx = "1.0.149"
+
+[build-dependencies]
+cxx-build = "1.0.149"

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("/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");
+
+    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("/usr");
+    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());
+}

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() {

examples/Cargo.toml

@@ -0,0 +1,24 @@
+[package]
+name = "examples"
+version = { workspace = true }
+edition = { workspace = true }
+authors = { workspace = true }
+
+[[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"] }

tracker/Cargo.toml

@@ -0,0 +1,20 @@
+[package]
+name = "tracker"
+version = { workspace = true }
+edition = { workspace = true }
+authors = { workspace = true }
+
+[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]
+nearly_eq = "0.2.4"
+quickcheck = "1.0.3"
+rand = "0.8.5"