rerun::archetypes::Ellipsoids3D Struct Reference

Archetype: 3D ellipsoids or spheres. More...

#include <rerun/archetypes/ellipsoids3d.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
	Ellipsoids3D (Ellipsoids3D &&other)=default
Ellipsoids3D	with_centers (Collection< rerun::components::PoseTranslation3D > _centers) &&
	Optional center positions of the ellipsoids.
Ellipsoids3D	with_rotation_axis_angles (Collection< rerun::components::PoseRotationAxisAngle > _rotation_axis_angles) &&
	Rotations via axis + angle.
Ellipsoids3D	with_quaternions (Collection< rerun::components::PoseRotationQuat > _quaternions) &&
	Rotations via quaternion.
Ellipsoids3D	with_colors (Collection< rerun::components::Color > _colors) &&
	Optional colors for the ellipsoids.
Ellipsoids3D	with_line_radii (Collection< rerun::components::Radius > _line_radii) &&
	Optional radii for the lines used when the ellipsoid is rendered as a wireframe.
Ellipsoids3D	with_fill_mode (rerun::components::FillMode _fill_mode) &&
	Optionally choose whether the ellipsoids are drawn with lines or solid.
Ellipsoids3D	with_labels (Collection< rerun::components::Text > _labels) &&
	Optional text labels for the ellipsoids.
Ellipsoids3D	with_show_labels (rerun::components::ShowLabels _show_labels) &&
	Optional choice of whether the text labels should be shown by default.
Ellipsoids3D	with_class_ids (Collection< rerun::components::ClassId > _class_ids) &&
	Optional class ID for the ellipsoids.

Static Public Member Functions
static Ellipsoids3D	from_radii (const std::vector< float > &sizes)
	Creates new Ellipsoids3D that are spheres, with half_sizes created from radii.
static Ellipsoids3D	from_centers_and_radii (const std::vector< datatypes::Vec3D > &centers, const std::vector< float > &radii)
	Creates new Ellipsoids3D that are spheres, with half_sizes and centers created from centers and radii.
static Ellipsoids3D	from_half_sizes (Collection< components::HalfSize3D > half_sizes)
	Creates new Ellipsoids3D with half_sizes centered around the local origin.
static Ellipsoids3D	from_centers_and_half_sizes (Collection< components::PoseTranslation3D > centers, Collection< components::HalfSize3D > half_sizes)
	Creates new Ellipsoids3D with centers and half_sizes.

Public Attributes
Collection< rerun::components::HalfSize3D >	half_sizes
	For each ellipsoid, half of its size on its three axes.
std::optional< Collection< rerun::components::PoseTranslation3D > >	centers
	Optional center positions of the ellipsoids.
std::optional< Collection< rerun::components::PoseRotationAxisAngle > >	rotation_axis_angles
	Rotations via axis + angle.
std::optional< Collection< rerun::components::PoseRotationQuat > >	quaternions
	Rotations via quaternion.
std::optional< Collection< rerun::components::Color > >	colors
	Optional colors for the ellipsoids.
std::optional< Collection< rerun::components::Radius > >	line_radii
	Optional radii for the lines used when the ellipsoid is rendered as a wireframe.
std::optional< rerun::components::FillMode >	fill_mode
	Optionally choose whether the ellipsoids are drawn with lines or solid.
std::optional< Collection< rerun::components::Text > >	labels
	Optional text labels for the ellipsoids.
std::optional< rerun::components::ShowLabels >	show_labels
	Optional choice of whether the text labels should be shown by default.
std::optional< Collection< rerun::components::ClassId > >	class_ids
	Optional class ID for the ellipsoids.

Static Public Attributes
static constexpr const char	IndicatorComponentName []

Detailed Description

Archetype: 3D ellipsoids or spheres.

This archetype is for ellipsoids or spheres whose size is a key part of the data (e.g. a bounding sphere). For points whose radii are for the sake of visualization, use archetypes::Points3D instead.

Note that orienting and placing the ellipsoids/spheres 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

Covariance ellipsoid

#include <rerun.hpp>
 
#include <algorithm>
#include <random>
#include <vector>
 
int main() {
    const auto rec = rerun::RecordingStream("rerun_example_ellipsoid_simple");
    rec.spawn().exit_on_failure();
 
    const float sigmas[3] = {5.0f, 3.0f, 1.0f};
 
    std::default_random_engine gen;
    std::normal_distribution<float> dist(0.0, 1.0f);
 
    std::vector<rerun::Position3D> points3d(50000);
    std::generate(points3d.begin(), points3d.end(), [&] {
        return rerun::Position3D(
            sigmas[0] * dist(gen),
            sigmas[1] * dist(gen),
            sigmas[2] * dist(gen)
        );
    });
 
    rec.log(
        "points",
        rerun::Points3D(points3d).with_radii(0.02f).with_colors(rerun::Rgba32(188, 77, 185))
    );
 
    rec.log(
        "ellipsoid",
        rerun::Ellipsoids3D::from_centers_and_half_sizes(
            {
                {0.0f, 0.0f, 0.0f},
                {0.0f, 0.0f, 0.0f},
            },
            {
                {sigmas[0], sigmas[1], sigmas[2]},
                {3.0f * sigmas[0], 3.0f * sigmas[1], 3.0f * sigmas[2]},
            }
        )
            .with_colors({
                rerun::Rgba32(255, 255, 0),
                rerun::Rgba32(64, 64, 0),
            })
    );
}

Member Function Documentation

with_centers()

Ellipsoids3D rerun::archetypes::Ellipsoids3D::with_centers ( Collection< rerun::components::PoseTranslation3D >  _centers ) &&

inline

Optional center positions of the ellipsoids.

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()

Ellipsoids3D rerun::archetypes::Ellipsoids3D::with_rotation_axis_angles ( Collection< rerun::components::PoseRotationAxisAngle >  _rotation_axis_angles ) &&

inline

Rotations via axis + angle.

If no rotation is specified, the axes of the ellipsoid 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()

Ellipsoids3D rerun::archetypes::Ellipsoids3D::with_quaternions ( Collection< rerun::components::PoseRotationQuat >  _quaternions ) &&

inline

Rotations via quaternion.

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

with_class_ids()

Ellipsoids3D rerun::archetypes::Ellipsoids3D::with_class_ids ( Collection< rerun::components::ClassId >  _class_ids ) &&

inline

Optional class ID for the ellipsoids.

The class ID provides colors and labels if not specified explicitly.

Member Data Documentation

half_sizes

Collection<rerun::components::HalfSize3D> rerun::archetypes::Ellipsoids3D::half_sizes

For each ellipsoid, half of its size on its three axes.

If all components are equal, then it is a sphere with that radius.

centers

std::optional<Collection<rerun::components::PoseTranslation3D> > rerun::archetypes::Ellipsoids3D::centers

Optional center positions of the ellipsoids.

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<Collection<rerun::components::PoseRotationAxisAngle> > rerun::archetypes::Ellipsoids3D::rotation_axis_angles

Rotations via axis + angle.

If no rotation is specified, the axes of the ellipsoid 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<Collection<rerun::components::PoseRotationQuat> > rerun::archetypes::Ellipsoids3D::quaternions

Rotations via quaternion.

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

class_ids

std::optional<Collection<rerun::components::ClassId> > rerun::archetypes::Ellipsoids3D::class_ids

Optional class ID for the ellipsoids.

The class ID provides colors and labels if not specified explicitly.

IndicatorComponentName

constexpr const char rerun::archetypes::Ellipsoids3D::IndicatorComponentName[]

staticconstexpr

Initial value:

=
            "rerun.components.Ellipsoids3DIndicator"

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

• rerun/archetypes/ellipsoids3d.hpp