Struct re_sdk::DepthImage

pub struct DepthImage {
    pub data: TensorData,
    pub meter: Option<DepthMeter>,
    pub draw_order: Option<DrawOrder>,
}

Archetype: A depth image.

The shape of the TensorData must be mappable to an HxW tensor. Each pixel corresponds to a depth value in units specified by meter.

Example

Depth to 3D example

use ndarray::{s, Array, ShapeBuilder};

fn main() -> Result<(), Box<dyn std::error::Error>> {
    let rec = rerun::RecordingStreamBuilder::new("rerun_example_depth_image").spawn()?;

    let mut image = Array::<u16, _>::from_elem((200, 300).f(), 65535);
    image.slice_mut(s![50..150, 50..150]).fill(20000);
    image.slice_mut(s![130..180, 100..280]).fill(45000);

    let depth_image = rerun::DepthImage::try_from(image.clone())?.with_meter(10000.0);

    // If we log a pinhole camera model, the depth gets automatically back-projected to 3D
    rec.log(
        "world/camera",
        &rerun::Pinhole::from_focal_length_and_resolution(
            [200.0, 200.0],
            [image.shape()[1] as f32, image.shape()[0] as f32],
        ),
    )?;

    rec.log("world/camera/depth", &depth_image)?;

    Ok(())
}

Fields

data: TensorData

The depth-image data. Should always be a rank-2 tensor.

meter: Option<DepthMeter>

An optional floating point value that specifies how long a meter is in the native depth units.

For instance: with uint16, perhaps meter=1000 which would mean you have millimeter precision and a range of up to ~65 meters (2^16 / 1000).

draw_order: Option<DrawOrder>

An optional floating point value that specifies the 2D drawing order.

Objects with higher values are drawn on top of those with lower values.

Implementations

impl DepthImage

pub const NUM_COMPONENTS: usize = 5usize

impl DepthImage

pub fn new(data: impl Into<TensorData>) -> DepthImage

pub fn with_meter(self, meter: impl Into<DepthMeter>) -> DepthImage

pub fn with_draw_order(self, draw_order: impl Into<DrawOrder>) -> DepthImage

impl DepthImage

pub fn try_from<T>(data: T) -> Result<DepthImage, ImageConstructionError<T>>where T: TryInto<TensorData>, <T as TryInto<TensorData>>::Error: Error,

Try to construct a DepthImage from anything that can be converted into TensorData

Will return an ImageConstructionError if the shape of the tensor data is invalid for treating as an image.

This is useful for constructing an DepthImage from an ndarray.

Trait Implementations

impl Archetype for DepthImage

type Indicator = GenericIndicatorComponent<DepthImage>

The associated indicator component, whose presence indicates that the high-level archetype-based APIs were used to log the data.

fn name() -> ArchetypeName

The fully-qualified name of this archetype, e.g. rerun.archetypes.Points2D.

fn indicator() -> MaybeOwnedComponentBatch<'static>

Creates a ComponentBatch out of the associated Self::Indicator component.

fn required_components() -> Cow<'static, [ComponentName]>

Returns the names of all components that must be provided by the user when constructing this archetype.

fn recommended_components() -> Cow<'static, [ComponentName]>

Returns the names of all components that should be provided by the user when constructing this archetype.

fn optional_components() -> Cow<'static, [ComponentName]>

Returns the names of all components that may be provided by the user when constructing this archetype.

fn all_components() -> Cow<'static, [ComponentName]>

Returns the names of all components that must, should and may be provided by the user when constructing this archetype.

fn from_arrow( arrow_data: impl IntoIterator<Item = (Field, Box<dyn Array>)> ) -> Result<DepthImage, DeserializationError>

Given an iterator of Arrow arrays and their respective field metadata, deserializes them into this archetype.

impl AsComponents for DepthImage

fn as_component_batches(&self) -> Vec<MaybeOwnedComponentBatch<'_>>

Exposes the object’s contents as a set of ComponentBatchs.

fn num_instances(&self) -> usize

The number of instances in each batch.

fn to_arrow(&self) -> Result<Vec<(Field, Box<dyn Array>)>, SerializationError>

Serializes all non-null Components of this bundle into Arrow arrays.

impl Clone for DepthImage

fn clone(&self) -> DepthImage

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for DepthImage

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

Formats the value using the given formatter.

impl PartialEq for DepthImage

fn eq(&self, other: &DepthImage) -> bool

This method tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StructuralPartialEq for DepthImage