Struct rerun::sdk::archetypes::Points3D

pub struct Points3D {
    pub positions: Vec<Position3D>,
    pub radii: Option<Vec<Radius>>,
    pub colors: Option<Vec<Color>>,
    pub labels: Option<Vec<Text>>,
    pub show_labels: Option<ShowLabels>,
    pub class_ids: Option<Vec<ClassId>>,
    pub keypoint_ids: Option<Vec<KeypointId>>,
}

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

Examples

Randomly distributed 3D points with varying color and radius

use rand::{distributions::Uniform, Rng as _};

fn main() -> Result<(), Box<dyn std::error::Error>> {
    let rec = rerun::RecordingStreamBuilder::new("rerun_example_points3d_random").spawn()?;

    let mut rng = rand::thread_rng();
    let dist = Uniform::new(-5., 5.);

    rec.log(
        "random",
        &rerun::Points3D::new(
            (0..10).map(|_| (rng.sample(dist), rng.sample(dist), rng.sample(dist))),
        )
        .with_colors((0..10).map(|_| rerun::Color::from_rgb(rng.gen(), rng.gen(), rng.gen())))
        .with_radii((0..10).map(|_| rng.gen::<f32>())),
    )?;

    Ok(())
}

Log points with radii given in UI points

fn main() -> Result<(), Box<dyn std::error::Error>> {
    let rec = rerun::RecordingStreamBuilder::new("rerun_example_points3d_ui_radius").spawn()?;

    // Two blue points with scene unit radii of 0.1 and 0.3.
    rec.log(
        "scene_units",
        &rerun::Points3D::new([(0.0, 1.0, 0.0), (1.0, 1.0, 1.0)])
            // By default, radii are interpreted as world-space units.
            .with_radii([0.1, 0.3])
            .with_colors([rerun::Color::from_rgb(0, 0, 255)]),
    )?;

    // Two red points with ui point radii of 40 and 60.
    // UI points are independent of zooming in Views, but are sensitive to the application UI scaling.
    // For 100% ui scaling, UI points are equal to pixels.
    rec.log(
        "ui_points",
        &rerun::Points3D::new([(0.0, 0.0, 0.0), (1.0, 0.0, 1.0)])
            // rerun::Radius::new_ui_points produces a radius that the viewer interprets as given in ui points.
            .with_radii([
                rerun::Radius::new_ui_points(40.0),
                rerun::Radius::new_ui_points(60.0),
            ])
            .with_colors([rerun::Color::from_rgb(255, 0, 0)]),
    )?;

    Ok(())
}

Fields

positions: Vec<Position3D>

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

radii: Option<Vec<Radius>>

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

colors: Option<Vec<Color>>

Optional colors for the points.

labels: Option<Vec<Text>>

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<ShowLabels>

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

class_ids: Option<Vec<ClassId>>

Optional class Ids for the points.

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

keypoint_ids: Option<Vec<KeypointId>>

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 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 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_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() -> 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<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, 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 Points3D

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 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 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 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 Points3D

impl StructuralPartialEq for Points3D