rerun::archetypes::DepthImage Struct Reference

Archetype: A depth image. More...

#include <rerun/archetypes/depth_image.hpp>

Public Types
using	IndicatorComponent = rerun::components::IndicatorComponent< IndicatorComponentName >
	Indicator component, used to identify the archetype when converting to a list of components.

Public Member Functions
	DepthImage (Collection< datatypes::TensorDimension > shape, datatypes::TensorBuffer buffer)
	New depth image from height/width and tensor buffer.
	DepthImage (components::TensorData data_)
	New depth image from tensor data.
template<typename TElement >
	DepthImage (Collection< datatypes::TensorDimension > shape, const TElement *data_)
	New depth image from dimensions and pointer to depth image data.
	DepthImage (DepthImage &&other)=default
DepthImage	with_meter (rerun::components::DepthMeter _meter) &&
	An optional floating point value that specifies how long a meter is in the native depth units.
DepthImage	with_draw_order (rerun::components::DrawOrder _draw_order) &&
	An optional floating point value that specifies the 2D drawing order.
size_t	num_instances () const
	Returns the number of primary instances of this archetype.

Public Attributes
rerun::components::TensorData	data
	The depth-image data. Should always be a rank-2 tensor.
std::optional< rerun::components::DepthMeter >	meter
	An optional floating point value that specifies how long a meter is in the native depth units.
std::optional< rerun::components::DrawOrder >	draw_order
	An optional floating point value that specifies the 2D drawing order.

Static Public Attributes
static constexpr const char	IndicatorComponentName []

Detailed Description

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

#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));
}

Constructor & Destructor Documentation

DepthImage() [1/3]

rerun::archetypes::DepthImage::DepthImage ( Collection< datatypes::TensorDimension >  shape, datatypes::TensorBuffer  buffer  )

inline

New depth image from height/width and tensor buffer.

Parameters

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.
buffer	The tensor buffer containing the depth image data.

DepthImage() [2/3]

rerun::archetypes::DepthImage::DepthImage ( components::TensorData  data_ )

explicit

New depth image from tensor data.

Parameters

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.

DepthImage() [3/3]

template<typename TElement >

rerun::archetypes::DepthImage::DepthImage ( Collection< datatypes::TensorDimension >  shape, const TElement *  data_  )

inlineexplicit

New depth image from dimensions and pointer to depth image data.

Type must be one of the types supported by rerun::datatypes::TensorData.

Parameters

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.
data_	Target of the pointer must outlive the archetype.

Member Function Documentation

with_meter()

DepthImage rerun::archetypes::DepthImage::with_meter ( rerun::components::DepthMeter  _meter ) &&

inline

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).

with_draw_order()

DepthImage rerun::archetypes::DepthImage::with_draw_order ( rerun::components::DrawOrder  _draw_order ) &&

inline

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

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

Member Data Documentation

meter

std::optional<rerun::components::DepthMeter> rerun::archetypes::DepthImage::meter

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

std::optional<rerun::components::DrawOrder> rerun::archetypes::DepthImage::draw_order

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

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

IndicatorComponentName

constexpr const char rerun::archetypes::DepthImage::IndicatorComponentName[]

staticconstexpr

Initial value:

=
            "rerun.components.DepthImageIndicator"

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The documentation for this struct was generated from the following file:

• rerun/archetypes/depth_image.hpp