Struct RenderOutput 

pub struct RenderOutput {
    pub rgba: Vec<u8>,
    pub depth: Vec<f64>,
    pub width: u32,
    pub height: u32,
    pub intrinsics: CameraIntrinsics,
    pub camera_transform: Transform,
    pub object_rotation: ObjectRotation,
    pub target_point: Vec3,
    pub targeting_policy: TargetingPolicy,
}

Output from headless rendering containing RGBA and depth data.

Fields

rgba: Vec<u8>

RGBA pixel data in row-major order (width * height * 4 bytes)

depth: Vec<f64>

Depth values in meters, row-major order (width * height f64s) Values are linear depth from camera, not normalized. Uses f64 for TBP numerical precision compatibility.

width: u32

Image width in pixels

height: u32

Image height in pixels

intrinsics: CameraIntrinsics

Camera intrinsics used for this render

camera_transform: Transform

Camera transform (world position and orientation)

object_rotation: ObjectRotation

Object rotation applied during render

target_point: Vec3

Point the camera was intended to target for this render.

targeting_policy: TargetingPolicy

Policy used to derive target_point.

Implementations

impl RenderOutput

pub const TBP_FAR_PLANE_METERS: f64 = 10.0

Default far plane used by TBP render helpers.

pub fn with_targeting( self, target_point: Vec3, targeting_policy: TargetingPolicy, ) -> Self

Attach the render target metadata used to generate this camera transform.

pub fn get_rgba(&self, x: u32, y: u32) -> Option<[u8; 4]>

Get RGBA pixel at (x, y). Returns None if out of bounds.

pub fn get_depth(&self, x: u32, y: u32) -> Option<f64>

Get depth value at (x, y) in meters. Returns None if out of bounds.

pub fn get_rgb(&self, x: u32, y: u32) -> Option<[u8; 3]>

Get RGB pixel (without alpha) at (x, y).

pub fn center_pixel(&self) -> Option<[u32; 2]>

Pixel nearest the camera principal point, clamped to image bounds.

pub fn center_pixel_raw_depth(&self) -> Option<f64>

Raw center-pixel depth, including far-plane/background values.

pub fn center_pixel_depth(&self) -> Option<f64>

Center-pixel object depth using the TBP default far plane.

pub fn center_pixel_depth_with_far_plane(&self, far_plane: f64) -> Option<f64>

Center-pixel object depth using a caller-provided far plane.

pub fn is_foreground_depth(depth: f64, far_plane: f64) -> bool

Whether a depth value should be treated as foreground/object surface.

pub fn health(&self) -> RenderHealth

Compute render-health diagnostics using the TBP default far plane.

pub fn health_with_far_plane(&self, far_plane: f64) -> RenderHealth

Compute render-health diagnostics using a caller-provided far plane.

pub fn camera_to_world_point(&self, camera_point: [f64; 3]) -> [f64; 3]

Transform a point from Bevy camera-local coordinates into world space.

pub fn world_to_camera_point(&self, world_point: [f64; 3]) -> [f64; 3]

Transform a point from world space into Bevy camera-local coordinates.

pub fn center_surface_point_world(&self) -> Option<[f64; 3]>

Surface point at the center pixel using the TBP default far plane.

pub fn center_surface_point_world_with_far_plane( &self, far_plane: f64, ) -> Option<[f64; 3]>

Surface point at the center pixel using a caller-provided far plane.

pub fn pixel_surface_point_world(&self, pixel: [u32; 2]) -> Option<[f64; 3]>

Surface point at pixel using the TBP default far plane.

pub fn pixel_surface_point_world_with_far_plane( &self, pixel: [u32; 2], far_plane: f64, ) -> Option<[f64; 3]>

Surface point at pixel using a caller-provided far plane.

Pixel coordinates follow image convention (x right, y down). The returned point is in world space. Internally this maps to Bevy’s camera frame (+X right, +Y up, -Z forward).

pub fn to_rgb_image(&self) -> Vec<Vec<[u8; 3]>>

Convert to neocortx-compatible image format: Vec<Vec<[u8; 3]>>

pub fn to_depth_image(&self) -> Vec<Vec<f64>>

Convert depth to neocortx-compatible format: Vec<Vec>

Trait Implementations

impl Clone for RenderOutput

fn clone(&self) -> RenderOutput

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for RenderOutput

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.