depth_image.hpp

// DO NOT EDIT! This file was auto-generated by crates/re_types_builder/src/codegen/cpp/mod.rs
// Based on "crates/re_types/definitions/rerun/archetypes/depth_image.fbs".
 
#pragma once
 
#include "../collection.hpp"
#include "../compiler_utils.hpp"
#include "../components/depth_meter.hpp"
#include "../components/draw_order.hpp"
#include "../components/tensor_data.hpp"
#include "../data_cell.hpp"
#include "../indicator_component.hpp"
#include "../result.hpp"
 
#include <cstdint>
#include <optional>
#include <utility>
#include <vector>
 
namespace rerun::archetypes {
    /// **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`.
    ///
    /// Since the underlying `rerun::datatypes::TensorData` uses `rerun::Collection` internally,
    /// data can be passed in without a copy from raw pointers or by reference from `std::vector`/`std::array`/c-arrays.
    /// If needed, this "borrow-behavior" can be extended by defining your own `rerun::CollectionAdapter`.
    ///
    /// ## Example
    ///
    /// ### Depth to 3D example
    /// ![image](https://static.rerun.io/depth_image_3d/f78674bdae0eb25786c6173307693c5338f38b87/full.png)
    ///
    /// ```cpp
    /// #include <rerun.hpp>
    ///
    /// #include <algorithm> // fill_n
    /// #include <vector>
    ///
    /// int main() {
    ///     const auto rec = rerun::RecordingStream("rerun_example_depth_image_3d");
    ///     rec.spawn().exit_on_failure();
    ///
    ///     // Create a synthetic depth image.
    ///     const int HEIGHT = 200;
    ///     const int WIDTH = 300;
    ///     std::vector<uint16_t> data(WIDTH * HEIGHT, 65535);
    ///     for (auto y = 50; y <150; ++y) {
    ///         std::fill_n(data.begin() + y * WIDTH + 50, 100, static_cast<uint16_t>(20000));
    ///     }
    ///     for (auto y = 130; y <180; ++y) {
    ///         std::fill_n(data.begin() + y * WIDTH + 100, 180, static_cast<uint16_t>(45000));
    ///     }
    ///
    ///     // 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(
    ///             200.0f,
    ///             {static_cast<float>(WIDTH), static_cast<float>(HEIGHT)}
    ///         )
    ///     );
    ///
    ///     rec.log("world/camera/depth", rerun::DepthImage({HEIGHT, WIDTH}, data).with_meter(10000.0));
    /// }
    /// ```
    struct DepthImage {
        /// The depth-image data. Should always be a rank-2 tensor.
        rerun::components::TensorData data;
 
        /// 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).
        std::optional<rerun::components::DepthMeter> meter;
 
        /// An optional floating point value that specifies the 2D drawing order.
        ///
        /// Objects with higher values are drawn on top of those with lower values.
        std::optional<rerun::components::DrawOrder> draw_order;
 
      public:
        static constexpr const char IndicatorComponentName[] =
            "rerun.components.DepthImageIndicator";
 
        /// Indicator component, used to identify the archetype when converting to a list of components.
        using IndicatorComponent = rerun::components::IndicatorComponent<IndicatorComponentName>;
 
      public:
        // Extensions to generated type defined in 'depth_image_ext.cpp'
 
        /// New depth image from height/width and tensor buffer.
        ///
        /// \param shape
        /// Shape of the image. Calls `Error::handle()` if the shape is not rank 2.
        /// Sets the dimension names to "height" and "width" if they are not specified.
        /// \param buffer
        /// The tensor buffer containing the depth image data.
        DepthImage(Collection<datatypes::TensorDimension> shape, datatypes::TensorBuffer buffer)
            : DepthImage(datatypes::TensorData(std::move(shape), std::move(buffer))) {}
 
        /// New depth image from tensor data.
        ///
        /// \param data_
        /// The tensor buffer containing the depth image data.
        /// Sets the dimension names to "height" and "width" if they are not specified.
        /// Calls `Error::handle()` if the shape is not rank 2.
        explicit DepthImage(components::TensorData data_);
 
        /// New depth image from dimensions and pointer to depth image data.
        ///
        /// Type must be one of the types supported by `rerun::datatypes::TensorData`.
        /// \param shape
        /// Shape of the image. Calls `Error::handle()` if the shape is not rank 2.
        /// Sets the dimension names to "height", "width" and "channel" if they are not specified.
        /// Determines the number of elements expected to be in `data`.
        /// \param data_
        /// Target of the pointer must outlive the archetype.
        template <typename TElement>
        explicit DepthImage(Collection<datatypes::TensorDimension> shape, const TElement* data_)
            : DepthImage(datatypes::TensorData(std::move(shape), data_)) {}
 
      public:
        DepthImage() = default;
        DepthImage(DepthImage&& other) = default;
 
        /// 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).
        DepthImage with_meter(rerun::components::DepthMeter _meter) && {
            meter = std::move(_meter);
            // See: https://github.com/rerun-io/rerun/issues/4027
            RR_WITH_MAYBE_UNINITIALIZED_DISABLED(return std::move(*this);)
        }
 
        /// An optional floating point value that specifies the 2D drawing order.
        ///
        /// Objects with higher values are drawn on top of those with lower values.
        DepthImage with_draw_order(rerun::components::DrawOrder _draw_order) && {
            draw_order = std::move(_draw_order);
            // See: https://github.com/rerun-io/rerun/issues/4027
            RR_WITH_MAYBE_UNINITIALIZED_DISABLED(return std::move(*this);)
        }
    };
 
} // namespace rerun::archetypes
 
namespace rerun {
    /// \private
    template <typename T>
    struct AsComponents;
 
    /// \private
    template <>
    struct AsComponents<archetypes::DepthImage> {
        /// Serialize all set component batches.
        static Result<std::vector<DataCell>> serialize(const archetypes::DepthImage& archetype);
    };
} // namespace rerun