Struct VoxelGridMap 

pub struct VoxelGridMap {
    pub voxel_indices: Option<SerializedComponentBatch>,
    pub voxel_size: Option<SerializedComponentBatch>,
    pub values: Option<SerializedComponentBatch>,
    pub colors: Option<SerializedComponentBatch>,
    pub translation: Option<SerializedComponentBatch>,
    pub rotation_axis_angle: Option<SerializedComponentBatch>,
    pub quaternion: Option<SerializedComponentBatch>,
    pub opacity: Option<SerializedComponentBatch>,
    pub value_range: Option<SerializedComponentBatch>,
    pub colormap: Option<SerializedComponentBatch>,
}

Archetype: A sparse 3D voxel grid map with grid indices and voxel dimensions.

This archetype is intended for 3D occupancy maps and other volumetric data represented as a sparse grid of voxels with scene-unit dimensions along the local X/Y/Z axes.

The minimum corner of the voxel with [0, 0, 0] index is located at the origin of the entity’s coordinate frame and can have an additional offset from there through the optional translation and rotation fields.

A voxel center is at (index + 0.5) * voxel_size in local grid coordinates (i.e. relative to the minimum corner).

⚠️ This type is unstable and may change significantly in a way that the data won’t be backwards compatible.

Example

Simple sparse voxel grid map

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

    let voxel_indices = [
        (-1, 0, 0),
        (1, 0, 0),
        (1, 1, 0),
        (3, 0, 0),
        (3, 0, 1),
        (4, 0, 1),
    ];
    let values = [0.0_f32, 0.2, 0.4, 0.6, 0.8, 1.0];

    rec.log(
        "world/voxels",
        &rerun::VoxelGridMap::new(voxel_indices, [0.25, 0.25, 0.25])
            .with_values(values)
            .with_value_range([0.0, 1.0])
            .with_colormap(rerun::components::Colormap::Turbo)
            .with_translation([-0.5, -0.5, 0.0]),
    )?;

    Ok(())
}

Fields

voxel_indices: Option<SerializedComponentBatch>

Indices of the voxels within the grid volume.

voxel_size: Option<SerializedComponentBatch>

The scene-unit dimensions of a single voxel cell.

This defines the voxel size along the local grid X/Y/Z axes. Each dimension must be finite and positive.

values: Option<SerializedComponentBatch>

Optional scalar occupancy or value data for each voxel.

If explicit colors are not provided, values are mapped through colormap and value_range.

colors: Option<SerializedComponentBatch>

Optional colors for each voxel.

If set, these colors take precedence over color-mapped scalar values.

translation: Option<SerializedComponentBatch>

Translation of the minimum corner of voxel [0, 0, 0].

Together with components::RotationAxisAngle or components::RotationQuat, this defines the pose of the grid relative to the map’s parent coordinate frame.

If not set, the minimum corner is placed at the origin of the map’s parent coordinate frame.

rotation_axis_angle: Option<SerializedComponentBatch>

Rotation of the grid via axis + angle.

Together with components::Translation3D, this defines the pose of the grid relative to the map’s parent coordinate frame.

Note: either this or components::RotationQuat can be set to specify the grid’s rotation, but not both. If both this and components::RotationQuat are set, this is ignored in favor of the quaternion.

quaternion: Option<SerializedComponentBatch>

Rotation of the grid via quaternion.

Together with components::Translation3D, this defines the pose of the grid relative to the map’s parent coordinate frame.

opacity: Option<SerializedComponentBatch>

Opacity of the voxels after color or colormap application.

Defaults to 1.0 (fully opaque).

value_range: Option<SerializedComponentBatch>

Scalar value range for color-mapping.

Defaults to [0.0, 1.0].

colormap: Option<SerializedComponentBatch>

Colormap to use when values are present and explicit colors are not provided.

Defaults to Turbo.

Implementations

impl VoxelGridMap

pub fn descriptor_voxel_indices() -> ComponentDescriptor

Returns the ComponentDescriptor for Self::voxel_indices.

The corresponding component is crate::components::VoxelIndex.

pub fn descriptor_voxel_size() -> ComponentDescriptor

Returns the ComponentDescriptor for Self::voxel_size.

The corresponding component is crate::components::VoxelSize.

pub fn descriptor_values() -> ComponentDescriptor

Returns the ComponentDescriptor for Self::values.

The corresponding component is crate::components::VoxelValue.

pub fn descriptor_colors() -> ComponentDescriptor

Returns the ComponentDescriptor for Self::colors.

The corresponding component is crate::components::Color.

pub fn descriptor_translation() -> ComponentDescriptor

Returns the ComponentDescriptor for Self::translation.

The corresponding component is crate::components::Translation3D.

pub fn descriptor_rotation_axis_angle() -> ComponentDescriptor

Returns the ComponentDescriptor for Self::rotation_axis_angle.

The corresponding component is crate::components::RotationAxisAngle.

pub fn descriptor_quaternion() -> ComponentDescriptor

Returns the ComponentDescriptor for Self::quaternion.

The corresponding component is crate::components::RotationQuat.

pub fn descriptor_opacity() -> ComponentDescriptor

Returns the ComponentDescriptor for Self::opacity.

The corresponding component is crate::components::Opacity.

pub fn descriptor_value_range() -> ComponentDescriptor

Returns the ComponentDescriptor for Self::value_range.

The corresponding component is crate::components::ValueRange.

pub fn descriptor_colormap() -> ComponentDescriptor

Returns the ComponentDescriptor for Self::colormap.

The corresponding component is crate::components::Colormap.

impl VoxelGridMap

pub const NUM_COMPONENTS: usize = 10usize

The total number of components in the archetype: 2 required, 0 recommended, 8 optional

impl VoxelGridMap

pub fn new( voxel_indices: impl IntoIterator<Item = impl Into<VoxelIndex>>, voxel_size: impl Into<VoxelSize>, ) -> VoxelGridMap

Create a new VoxelGridMap.

pub fn update_fields() -> VoxelGridMap

Update only some specific fields of a VoxelGridMap.

pub fn clear_fields() -> VoxelGridMap

Clear all the fields of a VoxelGridMap.

pub fn columns<I>( self, _lengths: I, ) -> Result<impl Iterator<Item = SerializedComponentColumn>, SerializationError>

where I: IntoIterator<Item = usize> + Clone,

Partitions the component data into multiple sub-batches.

Specifically, this transforms the existing SerializedComponentBatches data into SerializedComponentColumns instead, via SerializedComponentBatch::partitioned.

This makes it possible to use RecordingStream::send_columns to send columnar data directly into Rerun.

The specified lengths must sum to the total length of the component batch.

pub fn columns_of_unit_batches( self, ) -> Result<impl Iterator<Item = SerializedComponentColumn>, SerializationError>

Helper to partition the component data into unit-length sub-batches.

This is semantically similar to calling Self::columns with std::iter::take(1).repeat(n), where n is automatically guessed.

pub fn with_voxel_indices( self, voxel_indices: impl IntoIterator<Item = impl Into<VoxelIndex>>, ) -> VoxelGridMap

Indices of the voxels within the grid volume.

pub fn with_voxel_size(self, voxel_size: impl Into<VoxelSize>) -> VoxelGridMap

The scene-unit dimensions of a single voxel cell.

This defines the voxel size along the local grid X/Y/Z axes. Each dimension must be finite and positive.

pub fn with_many_voxel_size( self, voxel_size: impl IntoIterator<Item = impl Into<VoxelSize>>, ) -> VoxelGridMap

This method makes it possible to pack multiple crate::components::VoxelSize in a single component batch.

This only makes sense when used in conjunction with Self::columns. Self::with_voxel_size should be used when logging a single row’s worth of data.

pub fn with_values( self, values: impl IntoIterator<Item = impl Into<VoxelValue>>, ) -> VoxelGridMap

Optional scalar occupancy or value data for each voxel.

If explicit colors are not provided, values are mapped through colormap and value_range.

pub fn with_colors( self, colors: impl IntoIterator<Item = impl Into<Color>>, ) -> VoxelGridMap

Optional colors for each voxel.

If set, these colors take precedence over color-mapped scalar values.

pub fn with_translation( self, translation: impl Into<Translation3D>, ) -> VoxelGridMap

Translation of the minimum corner of voxel [0, 0, 0].

Together with components::RotationAxisAngle or components::RotationQuat, this defines the pose of the grid relative to the map’s parent coordinate frame.

If not set, the minimum corner is placed at the origin of the map’s parent coordinate frame.

pub fn with_many_translation( self, translation: impl IntoIterator<Item = impl Into<Translation3D>>, ) -> VoxelGridMap

This method makes it possible to pack multiple crate::components::Translation3D in a single component batch.

This only makes sense when used in conjunction with Self::columns. Self::with_translation should be used when logging a single row’s worth of data.

pub fn with_rotation_axis_angle( self, rotation_axis_angle: impl Into<RotationAxisAngle>, ) -> VoxelGridMap

Rotation of the grid via axis + angle.

Together with components::Translation3D, this defines the pose of the grid relative to the map’s parent coordinate frame.

Note: either this or components::RotationQuat can be set to specify the grid’s rotation, but not both. If both this and components::RotationQuat are set, this is ignored in favor of the quaternion.

pub fn with_many_rotation_axis_angle( self, rotation_axis_angle: impl IntoIterator<Item = impl Into<RotationAxisAngle>>, ) -> VoxelGridMap

This method makes it possible to pack multiple crate::components::RotationAxisAngle in a single component batch.

This only makes sense when used in conjunction with Self::columns. Self::with_rotation_axis_angle should be used when logging a single row’s worth of data.

pub fn with_quaternion( self, quaternion: impl Into<RotationQuat>, ) -> VoxelGridMap

Rotation of the grid via quaternion.

Together with components::Translation3D, this defines the pose of the grid relative to the map’s parent coordinate frame.

pub fn with_many_quaternion( self, quaternion: impl IntoIterator<Item = impl Into<RotationQuat>>, ) -> VoxelGridMap

This method makes it possible to pack multiple crate::components::RotationQuat in a single component batch.

This only makes sense when used in conjunction with Self::columns. Self::with_quaternion should be used when logging a single row’s worth of data.

pub fn with_opacity(self, opacity: impl Into<Opacity>) -> VoxelGridMap

Opacity of the voxels after color or colormap application.

Defaults to 1.0 (fully opaque).

pub fn with_many_opacity( self, opacity: impl IntoIterator<Item = impl Into<Opacity>>, ) -> VoxelGridMap

This method makes it possible to pack multiple crate::components::Opacity in a single component batch.

This only makes sense when used in conjunction with Self::columns. Self::with_opacity should be used when logging a single row’s worth of data.

pub fn with_value_range( self, value_range: impl Into<ValueRange>, ) -> VoxelGridMap

Scalar value range for color-mapping.

Defaults to [0.0, 1.0].

pub fn with_many_value_range( self, value_range: impl IntoIterator<Item = impl Into<ValueRange>>, ) -> VoxelGridMap

This method makes it possible to pack multiple crate::components::ValueRange in a single component batch.

This only makes sense when used in conjunction with Self::columns. Self::with_value_range should be used when logging a single row’s worth of data.

pub fn with_colormap(self, colormap: impl Into<Colormap>) -> VoxelGridMap

Colormap to use when values are present and explicit colors are not provided.

Defaults to Turbo.

pub fn with_many_colormap( self, colormap: impl IntoIterator<Item = impl Into<Colormap>>, ) -> VoxelGridMap

This method makes it possible to pack multiple crate::components::Colormap in a single component batch.

This only makes sense when used in conjunction with Self::columns. Self::with_colormap should be used when logging a single row’s worth of data.

Trait Implementations

impl Archetype for VoxelGridMap

fn name() -> ArchetypeName

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

fn display_name() -> &'static str

Readable name for displaying in UI.

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

Returns all component descriptors that must be provided by the user when constructing this archetype.

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

Returns all component descriptors that should be provided by the user when constructing this archetype.

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

Returns all component descriptors that may be provided by the user when constructing this archetype.

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

Returns all component descriptors that must, should and may be provided by the user when constructing this archetype.

fn from_arrow_components( arrow_data: impl IntoIterator<Item = (ComponentDescriptor, Arc<dyn Array>)>, ) -> Result<VoxelGridMap, DeserializationError>

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

fn all_component_identifiers() -> impl Iterator<Item = ComponentIdentifier>

Utility method based on Self::all_components to return all component identifiers.

fn from_arrow( data: impl IntoIterator<Item = (Field, Arc<dyn Array>)>, ) -> Result<Self, DeserializationError>

where Self: Sized,

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

impl ArchetypeReflectionMarker for VoxelGridMap

impl AsComponents for VoxelGridMap

fn as_serialized_batches(&self) -> Vec<SerializedComponentBatch>

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

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

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

impl Clone for VoxelGridMap

fn clone(&self) -> VoxelGridMap

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for VoxelGridMap

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

Formats the value using the given formatter.

impl Default for VoxelGridMap

fn default() -> VoxelGridMap

Returns the “default value” for a type.

impl PartialEq for VoxelGridMap

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

Equality operator ==.

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

Inequality operator !=.

impl SizeBytes for VoxelGridMap

const IS_POD: bool

fn heap_size_bytes(&self) -> u64

Returns how many bytes self uses on the heap.

fn total_size_bytes(&self) -> u64

Returns the total size of self in bytes, accounting for both stack and heap space.

fn stack_size_bytes(&self) -> u64

Returns the total size of self on the stack, in bytes.

impl StructuralPartialEq for VoxelGridMap

impl VisualizableArchetype for VoxelGridMap

fn visualizer(&self) -> Visualizer

Create a visualizer for this archetype, using all currently set values as overrides.