Struct rerun::sdk::archetypes::Points3D

pub struct Points3D {
    pub positions: Option<SerializedComponentBatch>,
    pub radii: Option<SerializedComponentBatch>,
    pub colors: Option<SerializedComponentBatch>,
    pub labels: Option<SerializedComponentBatch>,
    pub show_labels: Option<SerializedComponentBatch>,
    pub class_ids: Option<SerializedComponentBatch>,
    pub keypoint_ids: Option<SerializedComponentBatch>,
}

Archetype: A 3D point cloud with positions and optional colors, radii, labels, etc.

Examples

Simple 3D points

fn main() -> Result<(), Box<dyn std::error::Error>> {
    let rec = rerun::RecordingStreamBuilder::new("rerun_example_points3d").spawn()?;

    rec.log(
        "points",
        &rerun::Points3D::new([(0.0, 0.0, 0.0), (1.0, 1.0, 1.0)]),
    )?;

    Ok(())
}

Update a point cloud over time

fn main() -> Result<(), Box<dyn std::error::Error>> {
    let rec = rerun::RecordingStreamBuilder::new("rerun_example_points3d_row_updates").spawn()?;

    // Prepare a point cloud that evolves over 5 timesteps, changing the number of points in the process.
    #[rustfmt::skip]
    let positions = [
        vec![[1.0, 0.0, 1.0], [0.5, 0.5, 2.0]],
        vec![[1.5, -0.5, 1.5], [1.0, 1.0, 2.5], [-0.5, 1.5, 1.0], [-1.5, 0.0, 2.0]],
        vec![[2.0, 0.0, 2.0], [1.5, -1.5, 3.0], [0.0, -2.0, 2.5], [1.0, -1.0, 3.5]],
        vec![[-2.0, 0.0, 2.0], [-1.5, 1.5, 3.0], [-1.0, 1.0, 3.5]],
        vec![[1.0, -1.0, 1.0], [2.0, -2.0, 2.0], [3.0, -1.0, 3.0], [2.0, 0.0, 4.0]],
    ];

    // At each timestep, all points in the cloud share the same but changing color and radius.
    let colors = [0xFF0000FF, 0x00FF00FF, 0x0000FFFF, 0xFFFF00FF, 0x00FFFFFF];
    let radii = [0.05, 0.01, 0.2, 0.1, 0.3];

    for (time, positions, color, radius) in itertools::izip!(10..15, positions, colors, radii) {
        rec.set_time_seconds("time", time);

        let point_cloud = rerun::Points3D::new(positions)
            .with_colors([color])
            .with_radii([radius]);

        rec.log("points", &point_cloud)?;
    }

    Ok(())
}

Update a point cloud over time, in a single operation

fn main() -> Result<(), Box<dyn std::error::Error>> {
    let rec =
        rerun::RecordingStreamBuilder::new("rerun_example_points3d_column_updates").spawn()?;

    let times = rerun::TimeColumn::new_seconds("time", 10..15);

    // Prepare a point cloud that evolves over 5 timesteps, changing the number of points in the process.
    #[rustfmt::skip]
    let positions = [
        [1.0, 0.0, 1.0], [0.5, 0.5, 2.0],
        [1.5, -0.5, 1.5], [1.0, 1.0, 2.5], [-0.5, 1.5, 1.0], [-1.5, 0.0, 2.0],
        [2.0, 0.0, 2.0], [1.5, -1.5, 3.0], [0.0, -2.0, 2.5], [1.0, -1.0, 3.5],
        [-2.0, 0.0, 2.0], [-1.5, 1.5, 3.0], [-1.0, 1.0, 3.5],
        [1.0, -1.0, 1.0], [2.0, -2.0, 2.0], [3.0, -1.0, 3.0], [2.0, 0.0, 4.0],
    ];

    // At each timestep, all points in the cloud share the same but changing color and radius.
    let colors = [0xFF0000FF, 0x00FF00FF, 0x0000FFFF, 0xFFFF00FF, 0x00FFFFFF];
    let radii = [0.05, 0.01, 0.2, 0.1, 0.3];

    // Partition our data as expected across the 5 timesteps.
    let position = rerun::Points3D::update_fields()
        .with_positions(positions)
        .columns([2, 4, 4, 3, 4])?;
    let color_and_radius = rerun::Points3D::update_fields()
        .with_colors(colors)
        .with_radii(radii)
        .columns_of_unit_batches()?;

    rec.send_columns("points", [times], position.chain(color_and_radius))?;

    Ok(())
}

Update specific properties of a point cloud over time

fn main() -> Result<(), Box<dyn std::error::Error>> {
    let rec =
        rerun::RecordingStreamBuilder::new("rerun_example_points3d_partial_updates").spawn()?;

    let positions = || (0..10).map(|i| (i as f32, 0.0, 0.0));

    rec.set_time_sequence("frame", 0);
    rec.log("points", &rerun::Points3D::new(positions()))?;

    for i in 0..10 {
        let colors = (0..10).map(|n| {
            if n < i {
                rerun::Color::from_rgb(20, 200, 20)
            } else {
                rerun::Color::from_rgb(200, 20, 20)
            }
        });
        let radii = (0..10).map(|n| if n < i { 0.6 } else { 0.2 });

        // Update only the colors and radii, leaving everything else as-is.
        rec.set_time_sequence("frame", i);
        rec.log(
            "points",
            &rerun::Points3D::update_fields()
                .with_radii(radii)
                .with_colors(colors),
        )?;
    }

    // Update the positions and radii, and clear everything else in the process.
    rec.set_time_sequence("frame", 20);
    rec.log(
        "points",
        &rerun::Points3D::clear_fields()
            .with_positions(positions())
            .with_radii([0.3]),
    )?;

    Ok(())
}

Fields

positions: Option<SerializedComponentBatch>

All the 3D positions at which the point cloud shows points.

radii: Option<SerializedComponentBatch>

Optional radii for the points, effectively turning them into circles.

colors: Option<SerializedComponentBatch>

Optional colors for the points.

labels: Option<SerializedComponentBatch>

Optional text labels for the points.

If there’s a single label present, it will be placed at the center of the entity. Otherwise, each instance will have its own label.

show_labels: Option<SerializedComponentBatch>

Optional choice of whether the text labels should be shown by default.

class_ids: Option<SerializedComponentBatch>

Optional class Ids for the points.

The components::ClassId provides colors and labels if not specified explicitly.

keypoint_ids: Option<SerializedComponentBatch>

Optional keypoint IDs for the points, identifying them within a class.

If keypoint IDs are passed in but no components::ClassIds were specified, the components::ClassId will default to 0. This is useful to identify points within a single classification (which is identified with class_id). E.g. the classification might be ‘Person’ and the keypoints refer to joints on a detected skeleton.

Implementations

impl Points3D

pub fn descriptor_positions() -> ComponentDescriptor

Returns the ComponentDescriptor for Self::positions.

pub fn descriptor_radii() -> ComponentDescriptor

Returns the ComponentDescriptor for Self::radii.

pub fn descriptor_colors() -> ComponentDescriptor

Returns the ComponentDescriptor for Self::colors.

pub fn descriptor_labels() -> ComponentDescriptor

Returns the ComponentDescriptor for Self::labels.

pub fn descriptor_show_labels() -> ComponentDescriptor

Returns the ComponentDescriptor for Self::show_labels.

pub fn descriptor_class_ids() -> ComponentDescriptor

Returns the ComponentDescriptor for Self::class_ids.

pub fn descriptor_keypoint_ids() -> ComponentDescriptor

Returns the ComponentDescriptor for Self::keypoint_ids.

pub fn descriptor_indicator() -> ComponentDescriptor

Returns the ComponentDescriptor for the associated indicator component.

impl Points3D

pub const NUM_COMPONENTS: usize = 8usize

The total number of components in the archetype: 1 required, 3 recommended, 4 optional

impl Points3D

pub fn new( positions: impl IntoIterator<Item = impl Into<Position3D>>, ) -> Points3D

Create a new Points3D.

pub fn update_fields() -> Points3D

Update only some specific fields of a Points3D.

pub fn clear_fields() -> Points3D

Clear all the fields of a Points3D.

pub fn columns<I>( self, _lengths: I, ) -> Result<impl Iterator<Item = SerializedComponentColumn>, SerializationError>

where I: IntoIterator<Item = usize> + Clone,

Partitions the component data into multiple sub-batches.

Specifically, this transforms the existing SerializedComponentBatches data into SerializedComponentColumns instead, via SerializedComponentBatch::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.

pub fn columns_of_unit_batches( self, ) -> Result<impl Iterator<Item = SerializedComponentColumn>, SerializationError>

Helper to partition the component data into unit-length sub-batches.

This is semantically similar to calling Self::columns with std::iter::take(1).repeat(n), where n is automatically guessed.

pub fn with_positions( self, positions: impl IntoIterator<Item = impl Into<Position3D>>, ) -> Points3D

All the 3D positions at which the point cloud shows points.

pub fn with_radii( self, radii: impl IntoIterator<Item = impl Into<Radius>>, ) -> Points3D

Optional radii for the points, effectively turning them into circles.

pub fn with_colors( self, colors: impl IntoIterator<Item = impl Into<Color>>, ) -> Points3D

Optional colors for the points.

pub fn with_labels( self, labels: impl IntoIterator<Item = impl Into<Text>>, ) -> Points3D

Optional text labels for the points.

If there’s a single label present, it will be placed at the center of the entity. Otherwise, each instance will have its own label.

pub fn with_show_labels(self, show_labels: impl Into<ShowLabels>) -> Points3D

Optional choice of whether the text labels should be shown by default.

pub fn with_many_show_labels( self, show_labels: impl IntoIterator<Item = impl Into<ShowLabels>>, ) -> Points3D

This method makes it possible to pack multiple crate::components::ShowLabels in a single component batch.

This only makes sense when used in conjunction with Self::columns. Self::with_show_labels should be used when logging a single row’s worth of data.

pub fn with_class_ids( self, class_ids: impl IntoIterator<Item = impl Into<ClassId>>, ) -> Points3D

Optional class Ids for the points.

The components::ClassId provides colors and labels if not specified explicitly.

pub fn with_keypoint_ids( self, keypoint_ids: impl IntoIterator<Item = impl Into<KeypointId>>, ) -> Points3D

Optional keypoint IDs for the points, identifying them within a class.

If keypoint IDs are passed in but no components::ClassIds were specified, the components::ClassId will default to 0. This is useful to identify points within a single classification (which is identified with class_id). E.g. the classification might be ‘Person’ and the keypoints refer to joints on a detected skeleton.

impl Points3D

pub fn from_file_path(filepath: &Path) -> Result<Points3D, Error>

Creates a new Points3D from a .ply file.

Supported properties

This expects the following property names:

• (Required) Positions of the points: "x", "y" & "z".
• (Optional) Colors of the points: "red", "green" & "blue".
• (Optional) Radii of the points: "radius".
• (Optional) Labels of the points: "label".

The media type will be inferred from the path (extension), or the contents if that fails.

pub fn from_file_contents(contents: &[u8]) -> Result<Points3D, Error>

Creates a new Points3D from the contents of a .ply file.

If unspecified, he media type will be inferred from the contents.

Trait Implementations

impl Archetype for Points3D

type Indicator = GenericIndicatorComponent<Points3D>

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() -> SerializedComponentBatch

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

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

Returns all component descriptors that must be provided by the user when constructing this archetype.

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

Returns all component descriptors that should be provided by the user when constructing this archetype.

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

Returns all component descriptors that may be provided by the user when constructing this archetype.

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

Returns all component descriptors that must, should and may be provided by the user when constructing this archetype.

fn from_arrow_components( arrow_data: impl IntoIterator<Item = (ComponentDescriptor, Arc<dyn Array>)>, ) -> Result<Points3D, DeserializationError>

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

fn from_arrow( data: impl IntoIterator<Item = (Field, Arc<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 Points3D

fn as_serialized_batches(&self) -> Vec<SerializedComponentBatch>

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

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

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

impl Clone for Points3D

fn clone(&self) -> Points3D

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for Points3D

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

Formats the value using the given formatter.

impl Default for Points3D

fn default() -> Points3D

Returns the “default value” for a type.

impl PartialEq for Points3D

fn eq(&self, other: &Points3D) -> 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 Points3D

fn heap_size_bytes(&self) -> u64

Returns how many bytes self uses on the heap.

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.

fn is_pod() -> bool

Is Self just plain old data?

impl ArchetypeReflectionMarker for Points3D

impl StructuralPartialEq for Points3D