Struct DepthMap 

pub struct DepthMap {
    pub data: Array2<f64>,
    pub scale: f64,
    pub min_depth: f64,
    pub max_depth: f64,
}

A depth map with associated metadata.

Stores per-pixel depth values together with calibration metadata that allows converting raw network outputs (which are typically scale-ambiguous) into metric depths.

Fields

data: Array2<f64>

Per-pixel depth values. Shape is [H, W].

scale: f64

Multiplicative scale factor that maps data values to metric depth (metres). For ground-truth or metric depths set to 1.0.

min_depth: f64

Smallest valid (positive) depth in the map.

max_depth: f64

Largest valid depth in the map.

Implementations

impl DepthMap

pub fn new( data: Array2<f64>, scale: f64, min_depth: f64, max_depth: f64, ) -> Self

Create a new DepthMap with explicit metadata.

pub fn from_data(data: Array2<f64>, scale: f64) -> Self

Create a DepthMap by computing metadata automatically from the data.

All positive finite values are considered valid depth samples. If no valid values exist, min_depth and max_depth are set to 0.0.

Example

use scirs2_vision::depth_estimation::DepthMap;
use scirs2_core::ndarray::Array2;

let data = Array2::from_shape_vec((2, 2), vec![1.0, 2.0, 3.0, 4.0]).unwrap();
let dm = DepthMap::from_data(data, 1.0);
assert!((dm.min_depth - 1.0).abs() < 1e-9);
assert!((dm.max_depth - 4.0).abs() < 1e-9);

pub fn to_metric(&self) -> DepthMap

Apply the scale factor: returns a new DepthMap where all values are in metric units.

pub fn dim(&self) -> (usize, usize)

Dimensions (height, width) of the depth map.

Trait Implementations

impl Clone for DepthMap

fn clone(&self) -> DepthMap

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for DepthMap

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

Formats the value using the given formatter.