rerun::archetypes::EncodedDepthImage Struct Reference

Archetype: A depth image encoded with a codec (e.g. More...

#include <rerun/archetypes/encoded_depth_image.hpp>

Public Member Functions
	EncodedDepthImage (EncodedDepthImage &&other)=default
	EncodedDepthImage (const EncodedDepthImage &other)=default
EncodedDepthImage &	operator= (const EncodedDepthImage &other)=default
EncodedDepthImage &	operator= (EncodedDepthImage &&other)=default
	EncodedDepthImage (rerun::components::Blob _blob)
EncodedDepthImage	with_blob (const rerun::components::Blob &_blob) &&
	The encoded depth payload.
EncodedDepthImage	with_many_blob (const Collection< rerun::components::Blob > &_blob) &&
	This method makes it possible to pack multiple blob in a single component batch.
EncodedDepthImage	with_media_type (const rerun::components::MediaType &_media_type) &&
	Media type of the blob, e.g.:
EncodedDepthImage	with_many_media_type (const Collection< rerun::components::MediaType > &_media_type) &&
	This method makes it possible to pack multiple media_type in a single component batch.
EncodedDepthImage	with_meter (const rerun::components::DepthMeter &_meter) &&
	Conversion from native units to meters (e.g.
EncodedDepthImage	with_many_meter (const Collection< rerun::components::DepthMeter > &_meter) &&
	This method makes it possible to pack multiple meter in a single component batch.
EncodedDepthImage	with_colormap (const rerun::components::Colormap &_colormap) &&
	Optional colormap for visualization of decoded depth.
EncodedDepthImage	with_many_colormap (const Collection< rerun::components::Colormap > &_colormap) &&
	This method makes it possible to pack multiple colormap in a single component batch.
EncodedDepthImage	with_depth_range (const rerun::components::ValueRange &_depth_range) &&
	Optional visualization range for depth values.
EncodedDepthImage	with_many_depth_range (const Collection< rerun::components::ValueRange > &_depth_range) &&
	This method makes it possible to pack multiple depth_range in a single component batch.
EncodedDepthImage	with_point_fill_ratio (const rerun::components::FillRatio &_point_fill_ratio) &&
	Optional point fill ratio for point-cloud projection.
EncodedDepthImage	with_many_point_fill_ratio (const Collection< rerun::components::FillRatio > &_point_fill_ratio) &&
	This method makes it possible to pack multiple point_fill_ratio in a single component batch.
EncodedDepthImage	with_draw_order (const rerun::components::DrawOrder &_draw_order) &&
	Optional 2D draw order.
EncodedDepthImage	with_many_draw_order (const Collection< rerun::components::DrawOrder > &_draw_order) &&
	This method makes it possible to pack multiple draw_order in a single component batch.
Collection< ComponentColumn >	columns (const Collection< uint32_t > &lengths_)
	Partitions the component data into multiple sub-batches.
Collection< ComponentColumn >	columns ()
	Partitions the component data into unit-length sub-batches.

Static Public Member Functions
static EncodedDepthImage	update_fields ()
	Update only some specific fields of a EncodedDepthImage.
static EncodedDepthImage	clear_fields ()
	Clear all the fields of a EncodedDepthImage.

Public Attributes
std::optional< ComponentBatch >	blob
	The encoded depth payload.
std::optional< ComponentBatch >	media_type
	Media type of the blob, e.g.:
std::optional< ComponentBatch >	meter
	Conversion from native units to meters (e.g.
std::optional< ComponentBatch >	colormap
	Optional colormap for visualization of decoded depth.
std::optional< ComponentBatch >	depth_range
	Optional visualization range for depth values.
std::optional< ComponentBatch >	point_fill_ratio
	Optional point fill ratio for point-cloud projection.
std::optional< ComponentBatch >	draw_order
	Optional 2D draw order.

Static Public Attributes
static constexpr const char	ArchetypeName [] = "rerun.archetypes.EncodedDepthImage"
	The name of the archetype as used in ComponentDescriptors.
static constexpr auto	Descriptor_blob
	ComponentDescriptor for the blob field.
static constexpr auto	Descriptor_media_type
	ComponentDescriptor for the media_type field.
static constexpr auto	Descriptor_meter
	ComponentDescriptor for the meter field.
static constexpr auto	Descriptor_colormap
	ComponentDescriptor for the colormap field.
static constexpr auto	Descriptor_depth_range
	ComponentDescriptor for the depth_range field.
static constexpr auto	Descriptor_point_fill_ratio
	ComponentDescriptor for the point_fill_ratio field.
static constexpr auto	Descriptor_draw_order
	ComponentDescriptor for the draw_order field.

Detailed Description

Archetype: A depth image encoded with a codec (e.g.

RVL or PNG).

Rerun also supports uncompressed depth images with the archetypes.DepthImage.

Example

Encoded depth image

#include <rerun.hpp>
 
#include <filesystem>
#include <fstream>
#include <iostream>
#include <vector>
 
namespace fs = std::filesystem;
 
int main(int argc, char* argv[]) {
    if (argc <2) {
        std::cerr <<"Usage: " <<argv[0] <<" <path_to_depth_image.[png|rvl]>" <<std::endl;
        return 1;
    }
 
    const auto rec = rerun::RecordingStream("rerun_example_encoded_depth_image");
    rec.spawn().exit_on_failure();
 
    const auto depth_path = fs::path(argv[1]);
    std::ifstream file(depth_path, std::ios::binary);
    if (!file) {
        std::cerr <<"Failed to open encoded depth image: " <<depth_path <<std::endl;
        return 1;
    }
 
    std::vector<uint8_t> bytes{
        std::istreambuf_iterator<char>(file),
        std::istreambuf_iterator<char>()};
    // Determine media type based on file extension
    rerun::components::MediaType media_type;
    if (depth_path.extension() == ".png") {
        media_type = rerun::components::MediaType::png();
    } else {
        media_type = rerun::components::MediaType::rvl();
    }
 
    rec.log(
        "depth/encoded",
        rerun::archetypes::EncodedDepthImage()
            .with_blob(rerun::components::Blob(
                rerun::Collection<uint8_t>::take_ownership(std::move(bytes))
            ))
            .with_media_type(media_type)
            .with_meter(0.001f)
    );
}

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

Member Function Documentation

with_blob()

EncodedDepthImage rerun::archetypes::EncodedDepthImage::with_blob ( const rerun::components::Blob &  _blob ) &&

inline

The encoded depth payload.

Supported are:

• single channel PNG
• RVL with ROS2 metadata (for details see https://github.com/ros-perception/image_transport_plugins/tree/jazzy)

with_many_blob()

EncodedDepthImage rerun::archetypes::EncodedDepthImage::with_many_blob ( const Collection< rerun::components::Blob > &  _blob ) &&

inline

This method makes it possible to pack multiple blob in a single component batch.

This only makes sense when used in conjunction with columns. with_blob should be used when logging a single row's worth of data.

with_media_type()

EncodedDepthImage rerun::archetypes::EncodedDepthImage::with_media_type ( const rerun::components::MediaType &  _media_type ) &&

inline

Media type of the blob, e.g.:

• application/rvl (RVL-compressed 16-bit)
• image/png

with_many_media_type()

EncodedDepthImage rerun::archetypes::EncodedDepthImage::with_many_media_type ( const Collection< rerun::components::MediaType > &  _media_type ) &&

inline

This method makes it possible to pack multiple media_type in a single component batch.

This only makes sense when used in conjunction with columns. with_media_type should be used when logging a single row's worth of data.

with_meter()

EncodedDepthImage rerun::archetypes::EncodedDepthImage::with_meter ( const rerun::components::DepthMeter &  _meter ) &&

inline

Conversion from native units to meters (e.g.

0.001 for millimeters).

If omitted, the Viewer defaults to 1.0 for floating-point depth formats and 1000.0 for integer formats (millimeters).

with_many_meter()

EncodedDepthImage rerun::archetypes::EncodedDepthImage::with_many_meter ( const Collection< rerun::components::DepthMeter > &  _meter ) &&

inline

This method makes it possible to pack multiple meter in a single component batch.

This only makes sense when used in conjunction with columns. with_meter should be used when logging a single row's worth of data.

with_many_colormap()

EncodedDepthImage rerun::archetypes::EncodedDepthImage::with_many_colormap ( const Collection< rerun::components::Colormap > &  _colormap ) &&

inline

This method makes it possible to pack multiple colormap in a single component batch.

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

with_many_depth_range()

EncodedDepthImage rerun::archetypes::EncodedDepthImage::with_many_depth_range ( const Collection< rerun::components::ValueRange > &  _depth_range ) &&

inline

This method makes it possible to pack multiple depth_range in a single component batch.

This only makes sense when used in conjunction with columns. with_depth_range should be used when logging a single row's worth of data.

with_many_point_fill_ratio()

EncodedDepthImage rerun::archetypes::EncodedDepthImage::with_many_point_fill_ratio ( const Collection< rerun::components::FillRatio > &  _point_fill_ratio ) &&

inline

This method makes it possible to pack multiple point_fill_ratio in a single component batch.

This only makes sense when used in conjunction with columns. with_point_fill_ratio should be used when logging a single row's worth of data.

with_many_draw_order()

EncodedDepthImage rerun::archetypes::EncodedDepthImage::with_many_draw_order ( const Collection< rerun::components::DrawOrder > &  _draw_order ) &&

inline

This method makes it possible to pack multiple draw_order in a single component batch.

This only makes sense when used in conjunction with columns. with_draw_order should be used when logging a single row's worth of data.

columns() [1/2]

Collection< ComponentColumn > rerun::archetypes::EncodedDepthImage::columns

(

const Collection< uint32_t > &

lengths_

)

Partitions the component data into multiple sub-batches.

Specifically, this transforms the existing ComponentBatch data into ComponentColumns instead, via ComponentBatch::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.

columns() [2/2]

Collection< ComponentColumn > rerun::archetypes::EncodedDepthImage::columns

(

)

Partitions the component data into unit-length sub-batches.

This is semantically similar to calling columns with std::vector<uint32_t>(n, 1), where n is automatically guessed.

Member Data Documentation

blob

std::optional<ComponentBatch> rerun::archetypes::EncodedDepthImage::blob

The encoded depth payload.

Supported are:

• single channel PNG
• RVL with ROS2 metadata (for details see https://github.com/ros-perception/image_transport_plugins/tree/jazzy)

media_type

std::optional<ComponentBatch> rerun::archetypes::EncodedDepthImage::media_type

Media type of the blob, e.g.:

• application/rvl (RVL-compressed 16-bit)
• image/png

meter

std::optional<ComponentBatch> rerun::archetypes::EncodedDepthImage::meter

Conversion from native units to meters (e.g.

0.001 for millimeters).

If omitted, the Viewer defaults to 1.0 for floating-point depth formats and 1000.0 for integer formats (millimeters).

Descriptor_blob

constexpr auto rerun::archetypes::EncodedDepthImage::Descriptor_blob

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "EncodedDepthImage:blob",
            Loggable<rerun::components::Blob>::ComponentType
        )

ComponentDescriptor for the blob field.

Descriptor_media_type

constexpr auto rerun::archetypes::EncodedDepthImage::Descriptor_media_type

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "EncodedDepthImage:media_type",
            Loggable<rerun::components::MediaType>::ComponentType
        )

ComponentDescriptor for the media_type field.

Descriptor_meter

constexpr auto rerun::archetypes::EncodedDepthImage::Descriptor_meter

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "EncodedDepthImage:meter",
            Loggable<rerun::components::DepthMeter>::ComponentType
        )

ComponentDescriptor for the meter field.

Descriptor_colormap

constexpr auto rerun::archetypes::EncodedDepthImage::Descriptor_colormap

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "EncodedDepthImage:colormap",
            Loggable<rerun::components::Colormap>::ComponentType
        )

ComponentDescriptor for the colormap field.

Descriptor_depth_range

constexpr auto rerun::archetypes::EncodedDepthImage::Descriptor_depth_range

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "EncodedDepthImage:depth_range",
            Loggable<rerun::components::ValueRange>::ComponentType
        )

ComponentDescriptor for the depth_range field.

Descriptor_point_fill_ratio

constexpr auto rerun::archetypes::EncodedDepthImage::Descriptor_point_fill_ratio

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "EncodedDepthImage:point_fill_ratio",
            Loggable<rerun::components::FillRatio>::ComponentType
        )

ComponentDescriptor for the point_fill_ratio field.

Descriptor_draw_order

constexpr auto rerun::archetypes::EncodedDepthImage::Descriptor_draw_order

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "EncodedDepthImage:draw_order",
            Loggable<rerun::components::DrawOrder>::ComponentType
        )

ComponentDescriptor for the draw_order field.

---

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

• rerun/archetypes/encoded_depth_image.hpp