Struct rerun::archetypes::DepthImage

pub struct DepthImage {
    pub buffer: ImageBuffer,
    pub format: ImageFormat,
    pub meter: Option<DepthMeter>,
    pub colormap: Option<Colormap>,
    pub depth_range: Option<ValueRange>,
    pub point_fill_ratio: Option<FillRatio>,
    pub draw_order: Option<DrawOrder>,
}

Archetype: A depth image, i.e. as captured by a depth camera.

Each pixel corresponds to a depth value in units specified by components::DepthMeter.

Example

Depth to 3D example

use ndarray::{s, Array, ShapeBuilder};

fn main() -> Result<(), Box<dyn std::error::Error>> {
    let rec = rerun::RecordingStreamBuilder::new("rerun_example_depth_image_3d").spawn()?;

    let width = 300;
    let height = 200;
    let mut image = Array::<u16, _>::from_elem((height, width).f(), 65535);
    image.slice_mut(s![50..150, 50..150]).fill(20000);
    image.slice_mut(s![130..180, 100..280]).fill(45000);

    let depth_image = rerun::DepthImage::try_from(image)?
        .with_meter(10000.0)
        .with_colormap(rerun::components::Colormap::Viridis);

    // 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(
            [200.0, 200.0],
            [width as f32, height as f32],
        ),
    )?;

    rec.log("world/camera/depth", &depth_image)?;

    Ok(())
}

Fields

buffer: ImageBuffer

The raw depth image data.

format: ImageFormat

The format of the image.

meter: Option<DepthMeter>

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).

Note that the only effect on 2D views is the physical depth values shown when hovering the image. In 3D views on the other hand, this affects where the points of the point cloud are placed.

colormap: Option<Colormap>

Colormap to use for rendering the depth image.

If not set, the depth image will be rendered using the Turbo colormap.

depth_range: Option<ValueRange>

The expected range of depth values.

This is typically the expected range of valid values. Everything outside of the range is clamped to the range for the purpose of colormpaping. Note that point clouds generated from this image will still display all points, regardless of this range.

If not specified, the range will be automatically estimated from the data. Note that the Viewer may try to guess a wider range than the minimum/maximum of values in the contents of the depth image. E.g. if all values are positive, some bigger than 1.0 and all smaller than 255.0, the Viewer will guess that the data likely came from an 8bit image, thus assuming a range of 0-255.

point_fill_ratio: Option<FillRatio>

Scale the radii of the points in the point cloud generated from this image.

A fill ratio of 1.0 (the default) means that each point is as big as to touch the center of its neighbor if it is at the same depth, leaving no gaps. A fill ratio of 0.5 means that each point touches the edge of its neighbor if it has the same depth.

TODO(#6744): This applies only to 3D views!

draw_order: Option<DrawOrder>

An optional floating point value that specifies the 2D drawing order, used only if the depth image is shown as a 2D image.

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

Implementations

impl DepthImage

pub const NUM_COMPONENTS: usize = 8usize

The total number of components in the archetype: 2 required, 1 recommended, 5 optional

impl DepthImage

pub fn new( buffer: impl Into<ImageBuffer>, format: impl Into<ImageFormat> ) -> DepthImage

Create a new DepthImage.

pub fn with_meter(self, meter: impl Into<DepthMeter>) -> DepthImage

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).

Note that the only effect on 2D views is the physical depth values shown when hovering the image. In 3D views on the other hand, this affects where the points of the point cloud are placed.

pub fn with_colormap(self, colormap: impl Into<Colormap>) -> DepthImage

Colormap to use for rendering the depth image.

If not set, the depth image will be rendered using the Turbo colormap.

pub fn with_depth_range(self, depth_range: impl Into<ValueRange>) -> DepthImage

The expected range of depth values.

This is typically the expected range of valid values. Everything outside of the range is clamped to the range for the purpose of colormpaping. Note that point clouds generated from this image will still display all points, regardless of this range.

If not specified, the range will be automatically estimated from the data. Note that the Viewer may try to guess a wider range than the minimum/maximum of values in the contents of the depth image. E.g. if all values are positive, some bigger than 1.0 and all smaller than 255.0, the Viewer will guess that the data likely came from an 8bit image, thus assuming a range of 0-255.

pub fn with_point_fill_ratio( self, point_fill_ratio: impl Into<FillRatio> ) -> DepthImage

Scale the radii of the points in the point cloud generated from this image.

A fill ratio of 1.0 (the default) means that each point is as big as to touch the center of its neighbor if it is at the same depth, leaving no gaps. A fill ratio of 0.5 means that each point touches the edge of its neighbor if it has the same depth.

TODO(#6744): This applies only to 3D views!

pub fn with_draw_order(self, draw_order: impl Into<DrawOrder>) -> DepthImage

An optional floating point value that specifies the 2D drawing order, used only if the depth image is shown as a 2D image.

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

impl DepthImage

pub fn try_from<T>(data: T) -> Result<DepthImage, ImageConstructionError<T>>

where T: TryInto<TensorData>, <T as TryInto<TensorData>>::Error: Error,

Try to construct a DepthImage from anything that can be converted into TensorData

Will return an ImageConstructionError if the shape of the tensor data is invalid for treating as an image.

This is useful for constructing a DepthImage from an ndarray.

Trait Implementations

impl Archetype for DepthImage

type Indicator = GenericIndicatorComponent<DepthImage>

The associated indicator component, whose presence indicates that the high-level archetype-based APIs were used to log the data.

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 indicator() -> MaybeOwnedComponentBatch<'static>

Creates a ComponentBatch out of the associated Self::Indicator component.

fn required_components() -> Cow<'static, [ComponentName]>

Returns the names of all components that must be provided by the user when constructing this archetype.

fn recommended_components() -> Cow<'static, [ComponentName]>

Returns the names of all components that should be provided by the user when constructing this archetype.

fn optional_components() -> Cow<'static, [ComponentName]>

Returns the names of all components that may be provided by the user when constructing this archetype.

fn all_components() -> Cow<'static, [ComponentName]>

Returns the names of all components that must, should and may be provided by the user when constructing this archetype.

fn from_arrow_components( arrow_data: impl IntoIterator<Item = (ComponentName, Box<dyn Array>)> ) -> Result<DepthImage, DeserializationError>

Given an iterator of Arrow arrays and their respective ComponentNames, deserializes them into this archetype.

fn from_arrow( data: impl IntoIterator<Item = (Field, Box<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 DepthImage

fn as_component_batches(&self) -> Vec<MaybeOwnedComponentBatch<'_>>

Exposes the object’s contents as a set of ComponentBatchs.

fn to_arrow(&self) -> Result<Vec<(Field, Box<dyn Array>)>, SerializationError>

Serializes all non-null Components of this bundle into Arrow arrays.

impl Clone for DepthImage

fn clone(&self) -> DepthImage

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for DepthImage

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

Formats the value using the given formatter.

impl PartialEq for DepthImage

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

This method tests for self and other values to be equal, and is used by ==.

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

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

impl SizeBytes for DepthImage

fn heap_size_bytes(&self) -> u64

Returns the total size of self on the heap, in bytes.

fn is_pod() -> bool

Is Self just plain old data?

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.

impl ArchetypeReflectionMarker for DepthImage

impl StructuralPartialEq for DepthImage