Visualizes an example recording from [the NYUD dataset](https://cs.nyu.edu/~fergus/datasets/nyu_depth_v2.html) with RGB and Depth channels. ## Used Rerun types [`Image`](https://www.rerun.io/docs/reference/types/archetypes/image), [`Pinhole`](https://www.rerun.io/docs/reference/types/archetypes/pinhole), [`DepthImage`](https://www.rerun.io/docs/reference/types/archetypes/depth_image) ## Background The dataset, known as the NYU Depth V2 dataset, consists of synchronized pairs of RGB and depth frames recorded by the Microsoft Kinect in various indoor scenes. This example visualizes one scene of this dataset, and offers a rich source of data for object recognition, scene understanding, depth estimation, and more. ## Logging and visualizing with Rerun The visualizations in this example were created with the following Rerun code: ### Timelines All data logged using Rerun in the following sections is connected to a specific time. Rerun assigns a timestamp to each piece of logged data, and these timestamps are associated with a [`timeline`](https://www.rerun.io/docs/concepts/logging-and-ingestion/timelines). ```python rr.set_time("time", timestamp=time.timestamp()) ``` ### Image The example image is logged as [`Image`](https://www.rerun.io/docs/reference/types/archetypes/image) to the `world/camera/image/rgb` entity. ```python rr.log("world/camera/image/rgb", rr.Image(img_rgb).compress(jpeg_quality=95)) ``` ### Depth image Pinhole camera is utilized for achieving a 3D view and camera perspective through the use of the [`Pinhole`](https://www.rerun.io/docs/reference/types/archetypes/pinhole). ```python rr.log( "world/camera/image", rr.Pinhole( resolution=[img_depth.shape[1], img_depth.shape[0]], focal_length=0.7 * img_depth.shape[1], ), ) ``` Then, the depth image is logged as a [`DepthImage`](https://www.rerun.io/docs/reference/types/archetypes/depth_image) to the `world/camera/image/depth` entity. ```python rr.log("world/camera/image/depth", rr.DepthImage(img_depth, meter=DEPTH_IMAGE_SCALING)) ``` ## Run the code To run this example, make sure you have the Rerun repository checked out and the latest SDK installed: ```bash pip install --upgrade rerun-sdk # install the latest Rerun SDK git clone git@github.com:rerun-io/rerun.git # Clone the repository cd rerun git checkout latest # Check out the commit matching the latest SDK release ``` Install the necessary libraries specified in the requirements file: ```bash pip install -e examples/python/rgbd ``` To experiment with the provided example, simply execute the main Python script: ```bash python -m rgbd # run the example ``` You can specify the recording: ```bash python -m rgbd --recording {cafe,basements,studies,office_kitchens,playroooms} ``` If you wish to customize it, explore additional features, or save it use the CLI with the `--help` option for guidance: ```bash python -m rgbd --help ```