Struct Points3D 

pub struct Points3D {
    pub positions: Option<SerializedComponentBatch>,
    pub radii: Option<SerializedComponentBatch>,
    pub colors: Option<SerializedComponentBatch>,
    pub labels: Option<SerializedComponentBatch>,
    pub show_labels: Option<SerializedComponentBatch>,
    pub class_ids: Option<SerializedComponentBatch>,
    pub keypoint_ids: Option<SerializedComponentBatch>,
}

Archetype: A 3D point cloud with positions and optional colors, radii, labels, etc.

If there are multiple instance poses, the entire point cloud will be repeated for each of the poses.

Examples

Simple 3D points

fn main() -> Result<(), Box<dyn std::error::Error>> {
    let rec = rerun::RecordingStreamBuilder::new("rerun_example_points3d").spawn()?;

    rec.log(
        "points",
        &rerun::Points3D::new([(0.0, 0.0, 0.0), (1.0, 1.0, 1.0)]),
    )?;

    Ok(())
}

Update a point cloud over time

fn main() -> Result<(), Box<dyn std::error::Error>> {
    let rec = rerun::RecordingStreamBuilder::new("rerun_example_points3d_row_updates").spawn()?;

    // Prepare a point cloud that evolves over 5 timesteps, changing the number of points in the process.
    #[rustfmt::skip]
    let positions = [
        vec![[1.0, 0.0, 1.0], [0.5, 0.5, 2.0]],
        vec![[1.5, -0.5, 1.5], [1.0, 1.0, 2.5], [-0.5, 1.5, 1.0], [-1.5, 0.0, 2.0]],
        vec![[2.0, 0.0, 2.0], [1.5, -1.5, 3.0], [0.0, -2.0, 2.5], [1.0, -1.0, 3.5]],
        vec![[-2.0, 0.0, 2.0], [-1.5, 1.5, 3.0], [-1.0, 1.0, 3.5]],
        vec![[1.0, -1.0, 1.0], [2.0, -2.0, 2.0], [3.0, -1.0, 3.0], [2.0, 0.0, 4.0]],
    ];

    // At each timestep, all points in the cloud share the same but changing color and radius.
    let colors = [0xFF0000FF, 0x00FF00FF, 0x0000FFFF, 0xFFFF00FF, 0x00FFFFFF];
    let radii = [0.05, 0.01, 0.2, 0.1, 0.3];

    for (time, positions, color, radius) in itertools::izip!(10..15, positions, colors, radii) {
        rec.set_duration_secs("time", time);

        let point_cloud = rerun::Points3D::new(positions)
            .with_colors([color])
            .with_radii([radius]);

        rec.log("points", &point_cloud)?;
    }

    Ok(())
}

Update a point cloud over time, in a single operation

fn main() -> Result<(), Box<dyn std::error::Error>> {
    let rec =
        rerun::RecordingStreamBuilder::new("rerun_example_points3d_column_updates").spawn()?;

    let times = rerun::TimeColumn::new_duration_secs("time", 10..15);

    // Prepare a point cloud that evolves over 5 timesteps, changing the number of points in the process.
    #[rustfmt::skip]
    let positions = [
        [1.0, 0.0, 1.0], [0.5, 0.5, 2.0],
        [1.5, -0.5, 1.5], [1.0, 1.0, 2.5], [-0.5, 1.5, 1.0], [-1.5, 0.0, 2.0],
        [2.0, 0.0, 2.0], [1.5, -1.5, 3.0], [0.0, -2.0, 2.5], [1.0, -1.0, 3.5],
        [-2.0, 0.0, 2.0], [-1.5, 1.5, 3.0], [-1.0, 1.0, 3.5],
        [1.0, -1.0, 1.0], [2.0, -2.0, 2.0], [3.0, -1.0, 3.0], [2.0, 0.0, 4.0],
    ];

    // At each timestep, all points in the cloud share the same but changing color and radius.
    let colors = [0xFF0000FF, 0x00FF00FF, 0x0000FFFF, 0xFFFF00FF, 0x00FFFFFF];
    let radii = [0.05, 0.01, 0.2, 0.1, 0.3];

    // Partition our data as expected across the 5 timesteps.
    let position = rerun::Points3D::update_fields()
        .with_positions(positions)
        .columns([2, 4, 4, 3, 4])?;
    let color_and_radius = rerun::Points3D::update_fields()
        .with_colors(colors)
        .with_radii(radii)
        .columns_of_unit_batches()?;

    rec.send_columns("points", [times], position.chain(color_and_radius))?;

    Ok(())
}

Update specific properties of a point cloud over time

fn main() -> Result<(), Box<dyn std::error::Error>> {
    let rec =
        rerun::RecordingStreamBuilder::new("rerun_example_points3d_partial_updates").spawn()?;

    let positions = || (0..10).map(|i| (i as f32, 0.0, 0.0));

    rec.set_time_sequence("frame", 0);
    rec.log("points", &rerun::Points3D::new(positions()))?;

    for i in 0..10 {
        let colors = (0..10).map(|n| {
            if n < i {
                rerun::Color::from_rgb(20, 200, 20)
            } else {
                rerun::Color::from_rgb(200, 20, 20)
            }
        });
        let radii = (0..10).map(|n| if n < i { 0.6 } else { 0.2 });

        // Update only the colors and radii, leaving everything else as-is.
        rec.set_time_sequence("frame", i);
        rec.log(
            "points",
            &rerun::Points3D::update_fields()
                .with_radii(radii)
                .with_colors(colors),
        )?;
    }

    // Update the positions and radii, and clear everything else in the process.
    rec.set_time_sequence("frame", 20);
    rec.log(
        "points",
        &rerun::Points3D::clear_fields()
            .with_positions(positions())
            .with_radii([0.3]),
    )?;

    Ok(())
}

Fields

positions: Option<SerializedComponentBatch>

All the 3D positions at which the point cloud shows points.

radii: Option<SerializedComponentBatch>

Optional radii for the points, effectively turning them into circles.

colors: Option<SerializedComponentBatch>

Optional colors for the points.

labels: Option<SerializedComponentBatch>

Optional text labels for the points.

If there’s a single label present, it will be placed at the center of the entity. Otherwise, each instance will have its own label.

show_labels: Option<SerializedComponentBatch>

Whether the text labels should be shown.

If not set, labels will automatically appear when there is exactly one label for this entity or the number of instances on this entity is under a certain threshold.

class_ids: Option<SerializedComponentBatch>

Optional class Ids for the points.

The components::ClassId provides colors and labels if not specified explicitly.

keypoint_ids: Option<SerializedComponentBatch>

Optional keypoint IDs for the points, identifying them within a class.

If keypoint IDs are passed in but no components::ClassIds were specified, the components::ClassId will default to 0. This is useful to identify points within a single classification (which is identified with class_id). E.g. the classification might be ‘Person’ and the keypoints refer to joints on a detected skeleton.

Implementations

impl Points3D

pub fn descriptor_positions() -> ComponentDescriptor

Returns the ComponentDescriptor for Self::positions.

The corresponding component is crate::components::Position3D.

pub fn descriptor_radii() -> ComponentDescriptor

Returns the ComponentDescriptor for Self::radii.

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

pub fn descriptor_colors() -> ComponentDescriptor

Returns the ComponentDescriptor for Self::colors.

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

pub fn descriptor_labels() -> ComponentDescriptor

Returns the ComponentDescriptor for Self::labels.

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

pub fn descriptor_show_labels() -> ComponentDescriptor

Returns the ComponentDescriptor for Self::show_labels.

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

pub fn descriptor_class_ids() -> ComponentDescriptor

Returns the ComponentDescriptor for Self::class_ids.

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

pub fn descriptor_keypoint_ids() -> ComponentDescriptor

Returns the ComponentDescriptor for Self::keypoint_ids.

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

impl Points3D

pub const NUM_COMPONENTS: usize = 7usize

The total number of components in the archetype: 1 required, 2 recommended, 4 optional

impl Points3D

pub fn new( positions: impl IntoIterator<Item = impl Into<Position3D>>, ) -> Points3D

Create a new Points3D.

pub fn update_fields() -> Points3D

Update only some specific fields of a Points3D.

pub fn clear_fields() -> Points3D

Clear all the fields of a Points3D.

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_positions( self, positions: impl IntoIterator<Item = impl Into<Position3D>>, ) -> Points3D

All the 3D positions at which the point cloud shows points.

pub fn with_radii( self, radii: impl IntoIterator<Item = impl Into<Radius>>, ) -> Points3D

Optional radii for the points, effectively turning them into circles.

pub fn with_colors( self, colors: impl IntoIterator<Item = impl Into<Color>>, ) -> Points3D

Optional colors for the points.

pub fn with_labels( self, labels: impl IntoIterator<Item = impl Into<Text>>, ) -> Points3D

Optional text labels for the points.

If there’s a single label present, it will be placed at the center of the entity. Otherwise, each instance will have its own label.

pub fn with_show_labels(self, show_labels: impl Into<ShowLabels>) -> Points3D

Whether the text labels should be shown.

If not set, labels will automatically appear when there is exactly one label for this entity or the number of instances on this entity is under a certain threshold.

pub fn with_many_show_labels( self, show_labels: impl IntoIterator<Item = impl Into<ShowLabels>>, ) -> Points3D

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

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

pub fn with_class_ids( self, class_ids: impl IntoIterator<Item = impl Into<ClassId>>, ) -> Points3D

Optional class Ids for the points.

The components::ClassId provides colors and labels if not specified explicitly.

pub fn with_keypoint_ids( self, keypoint_ids: impl IntoIterator<Item = impl Into<KeypointId>>, ) -> Points3D

Optional keypoint IDs for the points, identifying them within a class.

If keypoint IDs are passed in but no components::ClassIds were specified, the components::ClassId will default to 0. This is useful to identify points within a single classification (which is identified with class_id). E.g. the classification might be ‘Person’ and the keypoints refer to joints on a detected skeleton.

impl Points3D

pub fn from_file_path(filepath: &Path) -> Result<Points3D, Error>

Creates a new Points3D from a .ply file.

Supported properties

This expects the following property names:

• (Required) Positions of the points: "x", "y" & "z".
• (Optional) Colors of the points: "red", "green" & "blue".
• (Optional) Radii of the points: "radius".
• (Optional) Labels of the points: "label".

The media type will be inferred from the path (extension), or the contents if that fails.

pub fn from_file_contents(contents: &[u8]) -> Result<Points3D, Error>

Creates a new Points3D from the contents of a .ply file.

If unspecified, he media type will be inferred from the contents.

Trait Implementations

impl Archetype for Points3D

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<Points3D, 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 AsComponents for Points3D

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 Points3D

fn clone(&self) -> Points3D

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Points3D

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

Formats the value using the given formatter.

impl Default for Points3D

fn default() -> Points3D

Returns the “default value” for a type.

impl PartialEq for Points3D

fn eq(&self, other: &Points3D) -> bool

Tests for self and other values to be equal, and is used by ==.

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

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

impl SizeBytes for Points3D

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.

fn is_pod() -> bool

Is Self just plain old data?

impl ArchetypeReflectionMarker for Points3D

impl StructuralPartialEq for Points3D