peng_quad

Function log_depth_image

Source 
pub fn log_depth_image(
    rec: &RecordingStream,
    cam: &Camera,
    use_multi_threading: bool,
) -> Result<(), SimulationError>
Expand description

Log depth image data to the rerun recording stream

When the depth value is f32::INFINITY, the pixel is considered invalid and logged as black When the resolution is larger than 32x24, multi-threading can accelerate the rendering

§Arguments

  • rec - The rerun::RecordingStream instance
  • cam - The Camera instance
  • use_multi_threading - Whether to use multithreading to log the depth image

§Errors

  • If the data cannot be logged to the recording stream

§Example

use peng_quad::{log_depth_image, Camera};
let rec = rerun::RecordingStreamBuilder::new("peng").spawn().unwrap();
let camera = Camera::new((640, 480), 0.1, 100.0, 60.0);
let use_multi_threading = false;
log_depth_image(&rec, &camera, use_multi_threading).unwrap();
let use_multi_threading = true;
log_depth_image(&rec, &camera, use_multi_threading).unwrap();