Archetype: 3D boxes with half-extents and optional center, rotations, colors etc. More...

#include <rerun/archetypes/boxes3d.hpp>

Public Types
using	IndicatorComponent = rerun::components::IndicatorComponent< IndicatorComponentName >
	Indicator component, used to identify the archetype when converting to a list of components.

Public Member Functions
	Boxes3D (Boxes3D &&other)=default

	Boxes3D (const Boxes3D &other)=default

Boxes3D &	operator= (const Boxes3D &other)=default

Boxes3D &	operator= (Boxes3D &&other)=default

Boxes3D	with_half_sizes (const Collection< rerun::components::HalfSize3D > &_half_sizes) &&
	All half-extents that make up the batch of boxes.

Boxes3D	with_centers (const Collection< rerun::components::PoseTranslation3D > &_centers) &&
	Optional center positions of the boxes.

Boxes3D	with_rotation_axis_angles (const Collection< rerun::components::PoseRotationAxisAngle > &_rotation_axis_angles) &&
	Rotations via axis + angle.

Boxes3D	with_quaternions (const Collection< rerun::components::PoseRotationQuat > &_quaternions) &&
	Rotations via quaternion.

Boxes3D	with_colors (const Collection< rerun::components::Color > &_colors) &&
	Optional colors for the boxes.

Boxes3D	with_radii (const Collection< rerun::components::Radius > &_radii) &&
	Optional radii for the lines that make up the boxes.

Boxes3D	with_fill_mode (const rerun::components::FillMode &_fill_mode) &&
	Optionally choose whether the boxes are drawn with lines or solid.

Boxes3D	with_many_fill_mode (const Collection< rerun::components::FillMode > &_fill_mode) &&
	This method makes it possible to pack multiple `fill_mode` in a single component batch.

Boxes3D	with_labels (const Collection< rerun::components::Text > &_labels) &&
	Optional text labels for the boxes.

Boxes3D	with_show_labels (const rerun::components::ShowLabels &_show_labels) &&
	Optional choice of whether the text labels should be shown by default.

Boxes3D	with_many_show_labels (const Collection< rerun::components::ShowLabels > &_show_labels) &&
	This method makes it possible to pack multiple `show_labels` in a single component batch.

Boxes3D	with_class_ids (const Collection< rerun::components::ClassId > &_class_ids) &&
	Optional `components::ClassId`s for the boxes.

Collection< ComponentColumn >	columns (const Collection< uint32_t > &lengths_)
	Partitions the component data into multiple sub-batches.

Collection< ComponentColumn >	columns ()
	Partitions the component data into unit-length sub-batches.

Static Public Member Functions
static Boxes3D	from_half_sizes (Collection< components::HalfSize3D > half_sizes)
	Creates new `Boxes3D` with `half_sizes` centered around the local origin.

static Boxes3D	from_centers_and_half_sizes (Collection< components::PoseTranslation3D > centers, Collection< components::HalfSize3D > half_sizes)
	Creates new `Boxes3D` with `centers` and `half_sizes`.

static Boxes3D	from_sizes (const std::vector< datatypes::Vec3D > &sizes)
	Creates new `Boxes3D` with `half_sizes` created from (full) sizes.

static Boxes3D	from_centers_and_sizes (Collection< components::PoseTranslation3D > centers, const std::vector< datatypes::Vec3D > &sizes)
	Creates new `Boxes3D` with `centers` and `half_sizes` created from centers and (full) sizes.

static Boxes3D	from_mins_and_sizes (const std::vector< datatypes::Vec3D > &mins, const std::vector< datatypes::Vec3D > &sizes)
	Creates new `Boxes3D` with `half_sizes` and `centers` created from minimums and (full) sizes.

static Boxes3D	update_fields ()
	Update only some specific fields of a `Boxes3D`.

static Boxes3D	clear_fields ()
	Clear all the fields of a `Boxes3D`.

Public Attributes
std::optional< ComponentBatch >	half_sizes
	All half-extents that make up the batch of boxes.

std::optional< ComponentBatch >	centers
	Optional center positions of the boxes.

std::optional< ComponentBatch >	rotation_axis_angles
	Rotations via axis + angle.

std::optional< ComponentBatch >	quaternions
	Rotations via quaternion.

std::optional< ComponentBatch >	colors
	Optional colors for the boxes.

std::optional< ComponentBatch >	radii
	Optional radii for the lines that make up the boxes.

std::optional< ComponentBatch >	fill_mode
	Optionally choose whether the boxes are drawn with lines or solid.

std::optional< ComponentBatch >	labels
	Optional text labels for the boxes.

std::optional< ComponentBatch >	show_labels
	Optional choice of whether the text labels should be shown by default.

std::optional< ComponentBatch >	class_ids
	Optional `components::ClassId`s for the boxes.

Static Public Attributes
static constexpr const char	IndicatorComponentName [] = "rerun.components.Boxes3DIndicator"

static constexpr const char	ArchetypeName [] = "rerun.archetypes.Boxes3D"
	The name of the archetype as used in `ComponentDescriptor`s.

static constexpr auto	Descriptor_half_sizes
	`ComponentDescriptor` for the `half_sizes` field.

static constexpr auto	Descriptor_centers
	`ComponentDescriptor` for the `centers` field.

static constexpr auto	Descriptor_rotation_axis_angles
	`ComponentDescriptor` for the `rotation_axis_angles` field.

static constexpr auto	Descriptor_quaternions
	`ComponentDescriptor` for the `quaternions` field.

static constexpr auto	Descriptor_colors
	`ComponentDescriptor` for the `colors` field.

static constexpr auto	Descriptor_radii
	`ComponentDescriptor` for the `radii` field.

static constexpr auto	Descriptor_fill_mode
	`ComponentDescriptor` for the `fill_mode` field.

static constexpr auto	Descriptor_labels
	`ComponentDescriptor` for the `labels` field.

static constexpr auto	Descriptor_show_labels
	`ComponentDescriptor` for the `show_labels` field.

static constexpr auto	Descriptor_class_ids
	`ComponentDescriptor` for the `class_ids` field.

Detailed Description

Archetype: 3D boxes with half-extents and optional center, rotations, colors etc.

Note that orienting and placing the box is handled via [archetypes.InstancePoses3D]. Some of its component are repeated here for convenience. If there's more instance poses than half sizes, the last half size will be repeated for the remaining poses.

Example

Batch of 3D boxes

#include <rerun.hpp>
 
int main() {
    const auto rec = rerun::RecordingStream("rerun_example_box3d_batch");
    rec.spawn().exit_on_failure();
 
    rec.log(
        "batch",
        rerun::Boxes3D::from_centers_and_half_sizes(
            {{2.0f, 0.0f, 0.0f}, {-2.0f, 0.0f, 0.0f}, {0.0f, 0.0f, 2.0f}},
            {{2.0f, 2.0f, 1.0f}, {1.0f, 1.0f, 0.5f}, {2.0f, 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),
            })
            .with_radii({0.025f})
            .with_colors({
                rerun::Rgba32(255, 0, 0),
                rerun::Rgba32(0, 255, 0),
                rerun::Rgba32(0, 0, 255),
            })
            .with_fill_mode(rerun::FillMode::Solid)
            .with_labels({"red", "green", "blue"})
    );
}

Member Function Documentation

◆ from_sizes()

static Boxes3D rerun::archetypes::Boxes3D::from_sizes ( const std::vector< datatypes::Vec3D > & sizes )

static

Creates new Boxes3D with half_sizes created from (full) sizes.

TODO(#3285): Does not preserve data as-is and instead creates half-sizes from the input data. TODO(andreas): This should not take an std::vector.

◆ from_centers_and_sizes()

static Boxes3D rerun::archetypes::Boxes3D::from_centers_and_sizes	(	Collection< components::PoseTranslation3D >	centers,
		const std::vector< datatypes::Vec3D > &	sizes
	)

inlinestatic

Creates new Boxes3D with centers and half_sizes created from centers and (full) sizes.

TODO(#3285): Does not preserve data as-is and instead creates centers and half-sizes from the input data. TODO(andreas): This should not take an std::vector.

◆ from_mins_and_sizes()

static Boxes3D rerun::archetypes::Boxes3D::from_mins_and_sizes	(	const std::vector< datatypes::Vec3D > &	mins,
		const std::vector< datatypes::Vec3D > &	sizes
	)

static

Creates new Boxes3D with half_sizes and centers created from minimums and (full) sizes.

TODO(#3285): Does not preserve data as-is and instead creates centers and half-sizes from the input data. TODO(andreas): This should not take an std::vector.

◆ with_centers()

Boxes3D rerun::archetypes::Boxes3D::with_centers ( const Collection< rerun::components::PoseTranslation3D > & _centers ) &&

inline

Optional center positions of the boxes.

If not specified, the centers will be at (0, 0, 0). Note that this uses a components::PoseTranslation3D which is also used by archetypes::InstancePoses3D.

◆ with_rotation_axis_angles()

Boxes3D rerun::archetypes::Boxes3D::with_rotation_axis_angles ( const Collection< rerun::components::PoseRotationAxisAngle > & _rotation_axis_angles ) &&

inline

Rotations via axis + angle.

If no rotation is specified, the axes of the boxes align with the axes of the local coordinate system. Note that this uses a components::PoseRotationAxisAngle which is also used by archetypes::InstancePoses3D.

◆ with_quaternions()

Boxes3D rerun::archetypes::Boxes3D::with_quaternions ( const Collection< rerun::components::PoseRotationQuat > & _quaternions ) &&

inline

Rotations via quaternion.

If no rotation is specified, the axes of the boxes align with the axes of the local coordinate system. Note that this uses a components::PoseRotationQuat which is also used by archetypes::InstancePoses3D.

◆ with_many_fill_mode()

Boxes3D rerun::archetypes::Boxes3D::with_many_fill_mode ( const Collection< rerun::components::FillMode > & _fill_mode ) &&

inline

This method makes it possible to pack multiple fill_mode in a single component batch.

This only makes sense when used in conjunction with columns. with_fill_mode should be used when logging a single row's worth of data.

◆ with_labels()

Boxes3D rerun::archetypes::Boxes3D::with_labels ( const Collection< rerun::components::Text > & _labels ) &&

inline

Optional text labels for the boxes.

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.

◆ with_many_show_labels()

Boxes3D rerun::archetypes::Boxes3D::with_many_show_labels ( const Collection< rerun::components::ShowLabels > & _show_labels ) &&

inline

This method makes it possible to pack multiple show_labels in a single component batch.

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

◆ with_class_ids()

Boxes3D rerun::archetypes::Boxes3D::with_class_ids ( const Collection< rerun::components::ClassId > & _class_ids ) &&

inline

Optional components::ClassIds for the boxes.

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

◆ columns() [1/2]

Collection< ComponentColumn > rerun::archetypes::Boxes3D::columns ( const Collection< uint32_t > & lengths_ )

Partitions the component data into multiple sub-batches.

Specifically, this transforms the existing ComponentBatch data into ComponentColumns 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.

◆ columns() [2/2]

Collection< ComponentColumn > rerun::archetypes::Boxes3D::columns ( )

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.

Member Data Documentation

◆ centers

std::optional<ComponentBatch> rerun::archetypes::Boxes3D::centers

Optional center positions of the boxes.

If not specified, the centers will be at (0, 0, 0). Note that this uses a components::PoseTranslation3D which is also used by archetypes::InstancePoses3D.

◆ rotation_axis_angles

std::optional<ComponentBatch> rerun::archetypes::Boxes3D::rotation_axis_angles

Rotations via axis + angle.

If no rotation is specified, the axes of the boxes align with the axes of the local coordinate system. Note that this uses a components::PoseRotationAxisAngle which is also used by archetypes::InstancePoses3D.

◆ quaternions

std::optional<ComponentBatch> rerun::archetypes::Boxes3D::quaternions

Rotations via quaternion.

If no rotation is specified, the axes of the boxes align with the axes of the local coordinate system. Note that this uses a components::PoseRotationQuat which is also used by archetypes::InstancePoses3D.

◆ labels

std::optional<ComponentBatch> rerun::archetypes::Boxes3D::labels

Optional text labels for the boxes.

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.

◆ class_ids

std::optional<ComponentBatch> rerun::archetypes::Boxes3D::class_ids

Optional components::ClassIds for the boxes.

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

◆ Descriptor_half_sizes

constexpr auto rerun::archetypes::Boxes3D::Descriptor_half_sizes

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "half_sizes",
            Loggable<rerun::components::HalfSize3D>::Descriptor.component_name
        )

ComponentDescriptor for the half_sizes field.

◆ Descriptor_centers

constexpr auto rerun::archetypes::Boxes3D::Descriptor_centers

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "centers",
            Loggable<rerun::components::PoseTranslation3D>::Descriptor.component_name
        )

ComponentDescriptor for the centers field.

◆ Descriptor_rotation_axis_angles

constexpr auto rerun::archetypes::Boxes3D::Descriptor_rotation_axis_angles

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "rotation_axis_angles",
            Loggable<rerun::components::PoseRotationAxisAngle>::Descriptor.component_name
        )

ComponentDescriptor for the rotation_axis_angles field.

◆ Descriptor_quaternions

constexpr auto rerun::archetypes::Boxes3D::Descriptor_quaternions

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "quaternions",
            Loggable<rerun::components::PoseRotationQuat>::Descriptor.component_name
        )

ComponentDescriptor for the quaternions field.

◆ Descriptor_colors

constexpr auto rerun::archetypes::Boxes3D::Descriptor_colors

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "colors", Loggable<rerun::components::Color>::Descriptor.component_name
        )

ComponentDescriptor for the colors field.

◆ Descriptor_radii

constexpr auto rerun::archetypes::Boxes3D::Descriptor_radii

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "radii", Loggable<rerun::components::Radius>::Descriptor.component_name
        )

ComponentDescriptor for the radii field.

◆ Descriptor_fill_mode

constexpr auto rerun::archetypes::Boxes3D::Descriptor_fill_mode

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "fill_mode",
            Loggable<rerun::components::FillMode>::Descriptor.component_name
        )

ComponentDescriptor for the fill_mode field.

◆ Descriptor_labels

constexpr auto rerun::archetypes::Boxes3D::Descriptor_labels

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "labels", Loggable<rerun::components::Text>::Descriptor.component_name
        )

ComponentDescriptor for the labels field.

◆ Descriptor_show_labels

constexpr auto rerun::archetypes::Boxes3D::Descriptor_show_labels

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "show_labels",
            Loggable<rerun::components::ShowLabels>::Descriptor.component_name
        )

ComponentDescriptor for the show_labels field.

◆ Descriptor_class_ids

constexpr auto rerun::archetypes::Boxes3D::Descriptor_class_ids

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "class_ids",
            Loggable<rerun::components::ClassId>::Descriptor.component_name
        )

ComponentDescriptor for the class_ids field.

The documentation for this struct was generated from the following file:

rerun/archetypes/boxes3d.hpp

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

Example

Batch of 3D boxes

Member Function Documentation

◆ from_sizes()

◆ from_centers_and_sizes()

◆ from_mins_and_sizes()

◆ with_centers()

◆ with_rotation_axis_angles()

◆ with_quaternions()

◆ with_many_fill_mode()

◆ with_labels()

◆ with_many_show_labels()

◆ with_class_ids()

◆ columns() [1/2]

◆ columns() [2/2]

Member Data Documentation

◆ centers

◆ rotation_axis_angles

◆ quaternions

◆ labels

◆ class_ids

◆ Descriptor_half_sizes

◆ Descriptor_centers

◆ Descriptor_rotation_axis_angles

◆ Descriptor_quaternions

◆ Descriptor_colors

◆ Descriptor_radii

◆ Descriptor_fill_mode

◆ Descriptor_labels

◆ Descriptor_show_labels

◆ Descriptor_class_ids