gaussian_splats3d.hpp

// DO NOT EDIT! This file was auto-generated by crates/build/re_types_builder/src/codegen/cpp/mod.rs
// Based on "crates/build/re_type_definitions/rerun/archetypes/gaussian_splats3d.def.rs".
 
#pragma once
 
#include "../collection.hpp"
#include "../component_batch.hpp"
#include "../component_column.hpp"
#include "../components/color.hpp"
#include "../components/position3d.hpp"
#include "../components/rotation_quat.hpp"
#include "../components/scale3d.hpp"
#include "../components/spherical_harmonics3rgb.hpp"
#include "../components/spherical_harmonics_degree.hpp"
#include "../result.hpp"
 
#include <cstdint>
#include <optional>
#include <utility>
#include <vector>
 
namespace rerun::archetypes {
    /// **Archetype**: 3D gaussian splats, e.g. from a 3D Gaussian Splatting (3DGS) reconstruction.
    ///
    /// Each gaussian is an anisotropic 3D gaussian distribution:
    /// a unit isotropic gaussian scaled per-axis, rotated, and translated.
    /// The scales are the standard deviations along the principal axes, in scene units.
    ///
    /// Note that unlike 3DGS training checkpoints (e.g. PLY files), all values are stored
    /// in their natural form: linear scales, and base colors with opacity as RGBA.
    ///
    /// ## Examples
    ///
    /// ### Log a few gaussian splats
    /// ```cpp
    /// #include <rerun.hpp>
    ///
    /// int main(int argc, char* argv[]) {
    ///     const auto rec = rerun::RecordingStream("rerun_example_gaussian_splats3d");
    ///     rec.spawn().exit_on_failure();
    ///
    ///     // 15 view-dependent RGB coefficients (degrees 1-3) per splat, coefficient-major:
    ///     std::array<std::array<float, 3>, 15> red_sh, green_sh, blue_sh;
    ///     red_sh.fill({0.5f, 0.0f, 0.0f});
    ///     green_sh.fill({0.0f, 0.5f, 0.0f});
    ///     blue_sh.fill({0.0f, 0.0f, 0.5f});
    ///
    ///     rec.log(
    ///         "gaussians",
    ///         rerun::GaussianSplats3D(
    ///             {{0.0f, 0.0f, 0.0f}, {2.0f, 0.0f, 0.0f}, {4.0f, 0.0f, 0.0f}}
    ///         )
    ///             .with_scales(
    ///                 {{1.0f, 0.5f, 0.25f}, {0.5f, 1.0f, 0.5f}, {0.25f, 0.5f, 1.0f}}
    ///             )
    ///             .with_quaternions({
    ///                 rerun::Quaternion::IDENTITY,
    ///                 // 45 degrees around Z
    ///                 rerun::Quaternion::from_xyzw(0.0f, 0.0f, 0.382683f, 0.923880f),
    ///                 rerun::Quaternion::IDENTITY,
    ///             })
    ///             .with_colors({
    ///                 rerun::Rgba32(255, 0, 0, 128),
    ///                 rerun::Rgba32(0, 255, 0, 200),
    ///                 rerun::Rgba32(0, 0, 255, 255),
    ///             })
    ///             .with_sh_coefficients({
    ///                 rerun::datatypes::SphericalHarmonics3Rgb(red_sh),
    ///                 rerun::datatypes::SphericalHarmonics3Rgb(green_sh),
    ///                 rerun::datatypes::SphericalHarmonics3Rgb(blue_sh),
    ///             })
    ///     );
    /// }
    /// ```
    ///
    /// ### Log a 3D gaussian splatting (3DGS) PLY file
    /// ```cpp
    /// #include <rerun.hpp>
    ///
    /// #include <iostream>
    ///
    /// int main(int argc, char* argv[]) {
    ///     if (argc <2) {
    ///         std::cerr <<"Usage: " <<argv[0] <<" <path_to_splats.ply>"
    ///                   <<std::endl;
    ///         return 1;
    ///     }
    ///
    ///     const auto path = argv[1];
    ///
    ///     const auto rec =
    ///         rerun::RecordingStream("rerun_example_gaussian_splats3d_ply");
    ///     rec.spawn().exit_on_failure();
    ///
    ///     rec.log_file_from_path(path);
    /// }
    /// ```
    ///
    /// ⚠ **This type is _unstable_ and may change significantly in a way that the data won't be backwards compatible.**
    ///
    struct GaussianSplats3D {
        /// The centers (means) of the gaussians.
        std::optional<ComponentBatch> centers;
 
        /// Per-axis standard deviations of the gaussians, in scene units.
        std::optional<ComponentBatch> scales;
 
        /// The orientations of the gaussians.
        std::optional<ComponentBatch> quaternions;
 
        /// The base colors and opacities of the gaussians.
        ///
        /// The RGB part is the view-independent base color, i.e. the degree-0 (DC) term of the spherical harmonics.
        /// The alpha part is the peak opacity of the gaussian; the gaussian falloff further modulates it spatially.
        std::optional<ComponentBatch> colors;
 
        /// Higher-order spherical harmonics coefficients for view-dependent color.
        std::optional<ComponentBatch> sh_coefficients;
 
        /// The highest spherical harmonics degree to evaluate when rendering, 0-3.
        ///
        /// Lower values render faster; `0` disables view-dependent color entirely.
        /// If not set, defaults to 3, i.e. all coefficients present in the data are used.
        std::optional<ComponentBatch> spherical_harmonics_degree;
 
      public:
        /// The name of the archetype as used in `ComponentDescriptor`s.
        static constexpr const char ArchetypeName[] = "rerun.archetypes.GaussianSplats3D";
 
        /// `ComponentDescriptor` for the `centers` field.
        static constexpr auto Descriptor_centers = ComponentDescriptor(
            ArchetypeName, "GaussianSplats3D:centers",
            Loggable<rerun::components::Position3D>::ComponentType
        );
        /// `ComponentDescriptor` for the `scales` field.
        static constexpr auto Descriptor_scales = ComponentDescriptor(
            ArchetypeName, "GaussianSplats3D:scales",
            Loggable<rerun::components::Scale3D>::ComponentType
        );
        /// `ComponentDescriptor` for the `quaternions` field.
        static constexpr auto Descriptor_quaternions = ComponentDescriptor(
            ArchetypeName, "GaussianSplats3D:quaternions",
            Loggable<rerun::components::RotationQuat>::ComponentType
        );
        /// `ComponentDescriptor` for the `colors` field.
        static constexpr auto Descriptor_colors = ComponentDescriptor(
            ArchetypeName, "GaussianSplats3D:colors",
            Loggable<rerun::components::Color>::ComponentType
        );
        /// `ComponentDescriptor` for the `sh_coefficients` field.
        static constexpr auto Descriptor_sh_coefficients = ComponentDescriptor(
            ArchetypeName, "GaussianSplats3D:sh_coefficients",
            Loggable<rerun::components::SphericalHarmonics3Rgb>::ComponentType
        );
        /// `ComponentDescriptor` for the `spherical_harmonics_degree` field.
        static constexpr auto Descriptor_spherical_harmonics_degree = ComponentDescriptor(
            ArchetypeName, "GaussianSplats3D:spherical_harmonics_degree",
            Loggable<rerun::components::SphericalHarmonicsDegree>::ComponentType
        );
 
      public:
        GaussianSplats3D() = default;
        GaussianSplats3D(GaussianSplats3D&& other) = default;
        GaussianSplats3D(const GaussianSplats3D& other) = default;
        GaussianSplats3D& operator=(const GaussianSplats3D& other) = default;
        GaussianSplats3D& operator=(GaussianSplats3D&& other) = default;
 
        explicit GaussianSplats3D(Collection<rerun::components::Position3D> _centers)
            : centers(ComponentBatch::from_loggable(std::move(_centers), Descriptor_centers)
                          .value_or_throw()) {}
 
        /// Update only some specific fields of a `GaussianSplats3D`.
        static GaussianSplats3D update_fields() {
            return GaussianSplats3D();
        }
 
        /// Clear all the fields of a `GaussianSplats3D`.
        static GaussianSplats3D clear_fields();
 
        /// The centers (means) of the gaussians.
        GaussianSplats3D with_centers(const Collection<rerun::components::Position3D>& _centers
        ) && {
            centers = ComponentBatch::from_loggable(_centers, Descriptor_centers).value_or_throw();
            return std::move(*this);
        }
 
        /// Per-axis standard deviations of the gaussians, in scene units.
        GaussianSplats3D with_scales(const Collection<rerun::components::Scale3D>& _scales) && {
            scales = ComponentBatch::from_loggable(_scales, Descriptor_scales).value_or_throw();
            return std::move(*this);
        }
 
        /// The orientations of the gaussians.
        GaussianSplats3D with_quaternions(
            const Collection<rerun::components::RotationQuat>& _quaternions
        ) && {
            quaternions = ComponentBatch::from_loggable(_quaternions, Descriptor_quaternions)
                              .value_or_throw();
            return std::move(*this);
        }
 
        /// The base colors and opacities of the gaussians.
        ///
        /// The RGB part is the view-independent base color, i.e. the degree-0 (DC) term of the spherical harmonics.
        /// The alpha part is the peak opacity of the gaussian; the gaussian falloff further modulates it spatially.
        GaussianSplats3D with_colors(const Collection<rerun::components::Color>& _colors) && {
            colors = ComponentBatch::from_loggable(_colors, Descriptor_colors).value_or_throw();
            return std::move(*this);
        }
 
        /// Higher-order spherical harmonics coefficients for view-dependent color.
        GaussianSplats3D with_sh_coefficients(
            const Collection<rerun::components::SphericalHarmonics3Rgb>& _sh_coefficients
        ) && {
            sh_coefficients =
                ComponentBatch::from_loggable(_sh_coefficients, Descriptor_sh_coefficients)
                    .value_or_throw();
            return std::move(*this);
        }
 
        /// The highest spherical harmonics degree to evaluate when rendering, 0-3.
        ///
        /// Lower values render faster; `0` disables view-dependent color entirely.
        /// If not set, defaults to 3, i.e. all coefficients present in the data are used.
        GaussianSplats3D with_spherical_harmonics_degree(
            const rerun::components::SphericalHarmonicsDegree& _spherical_harmonics_degree
        ) && {
            spherical_harmonics_degree = ComponentBatch::from_loggable(
                                             _spherical_harmonics_degree,
                                             Descriptor_spherical_harmonics_degree
            )
                                             .value_or_throw();
            return std::move(*this);
        }
 
        /// This method makes it possible to pack multiple `spherical_harmonics_degree` in a single component batch.
        ///
        /// This only makes sense when used in conjunction with `columns`. `with_spherical_harmonics_degree` should
        /// be used when logging a single row's worth of data.
        GaussianSplats3D with_many_spherical_harmonics_degree(
            const Collection<rerun::components::SphericalHarmonicsDegree>&
                _spherical_harmonics_degree
        ) && {
            spherical_harmonics_degree = ComponentBatch::from_loggable(
                                             _spherical_harmonics_degree,
                                             Descriptor_spherical_harmonics_degree
            )
                                             .value_or_throw();
            return std::move(*this);
        }
 
        /// Partitions the component data into multiple sub-batches.
        ///
        /// Specifically, this transforms the existing `ComponentBatch` data into `ComponentColumn`s
        /// instead, via `ComponentBatch::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.
        Collection<ComponentColumn> columns(const Collection<uint32_t>& lengths_);
 
        /// Partitions the component data into unit-length sub-batches.
        ///
        /// This is semantically similar to calling `columns` with `std::vector<uint32_t>(n, 1)`,
        /// where `n` is automatically guessed.
        Collection<ComponentColumn> columns();
    };
 
} // namespace rerun::archetypes
 
namespace rerun {
    /// \private
    template <typename T>
    struct AsComponents;
 
    /// \private
    template <>
    struct AsComponents<archetypes::GaussianSplats3D> {
        /// Serialize all set component batches.
        static Result<Collection<ComponentBatch>> as_batches(
            const archetypes::GaussianSplats3D& archetype
        );
    };
} // namespace rerun