rerun::archetypes::GaussianSplats3D Struct Reference

Archetype: 3D gaussian splats, e.g. More...

#include <rerun/archetypes/gaussian_splats3d.hpp>

Public Member Functions
	GaussianSplats3D (GaussianSplats3D &&other)=default
	GaussianSplats3D (const GaussianSplats3D &other)=default
GaussianSplats3D &	operator= (const GaussianSplats3D &other)=default
GaussianSplats3D &	operator= (GaussianSplats3D &&other)=default
	GaussianSplats3D (Collection< rerun::components::Position3D > _centers)
GaussianSplats3D	with_centers (const Collection< rerun::components::Position3D > &_centers) &&
	The centers (means) of the gaussians.
GaussianSplats3D	with_scales (const Collection< rerun::components::Scale3D > &_scales) &&
	Per-axis standard deviations of the gaussians, in scene units.
GaussianSplats3D	with_quaternions (const Collection< rerun::components::RotationQuat > &_quaternions) &&
	The orientations of the gaussians.
GaussianSplats3D	with_colors (const Collection< rerun::components::Color > &_colors) &&
	The base colors and opacities of the gaussians.
GaussianSplats3D	with_sh_coefficients (const Collection< rerun::components::SphericalHarmonics3Rgb > &_sh_coefficients) &&
	Higher-order spherical harmonics coefficients for view-dependent color.
GaussianSplats3D	with_spherical_harmonics_degree (const rerun::components::SphericalHarmonicsDegree &_spherical_harmonics_degree) &&
	The highest spherical harmonics degree to evaluate when rendering, 0-3.
GaussianSplats3D	with_many_spherical_harmonics_degree (const Collection< rerun::components::SphericalHarmonicsDegree > &_spherical_harmonics_degree) &&
	This method makes it possible to pack multiple spherical_harmonics_degree in a single component batch.
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 GaussianSplats3D	update_fields ()
	Update only some specific fields of a GaussianSplats3D.
static GaussianSplats3D	clear_fields ()
	Clear all the fields of a GaussianSplats3D.

Public Attributes
std::optional< ComponentBatch >	centers
	The centers (means) of the gaussians.
std::optional< ComponentBatch >	scales
	Per-axis standard deviations of the gaussians, in scene units.
std::optional< ComponentBatch >	quaternions
	The orientations of the gaussians.
std::optional< ComponentBatch >	colors
	The base colors and opacities of the gaussians.
std::optional< ComponentBatch >	sh_coefficients
	Higher-order spherical harmonics coefficients for view-dependent color.
std::optional< ComponentBatch >	spherical_harmonics_degree
	The highest spherical harmonics degree to evaluate when rendering, 0-3.

Static Public Attributes
static constexpr const char	ArchetypeName [] = "rerun.archetypes.GaussianSplats3D"
	The name of the archetype as used in ComponentDescriptors.
static constexpr auto	Descriptor_centers
	ComponentDescriptor for the centers field.
static constexpr auto	Descriptor_scales
	ComponentDescriptor for the scales 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_sh_coefficients
	ComponentDescriptor for the sh_coefficients field.
static constexpr auto	Descriptor_spherical_harmonics_degree
	ComponentDescriptor for the spherical_harmonics_degree field.

Detailed Description

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

#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

#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.

Member Function Documentation

with_colors()

GaussianSplats3D rerun::archetypes::GaussianSplats3D::with_colors ( const Collection< rerun::components::Color > &  _colors ) &&

inline

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.

with_spherical_harmonics_degree()

GaussianSplats3D rerun::archetypes::GaussianSplats3D::with_spherical_harmonics_degree ( const rerun::components::SphericalHarmonicsDegree &  _spherical_harmonics_degree ) &&

inline

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.

with_many_spherical_harmonics_degree()

GaussianSplats3D rerun::archetypes::GaussianSplats3D::with_many_spherical_harmonics_degree ( const Collection< rerun::components::SphericalHarmonicsDegree > &  _spherical_harmonics_degree ) &&

inline

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.

columns() [1/2]

Collection< ComponentColumn > rerun::archetypes::GaussianSplats3D::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::GaussianSplats3D::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

colors

std::optional<ComponentBatch> rerun::archetypes::GaussianSplats3D::colors

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.

spherical_harmonics_degree

std::optional<ComponentBatch> rerun::archetypes::GaussianSplats3D::spherical_harmonics_degree

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.

Descriptor_centers

constexpr auto rerun::archetypes::GaussianSplats3D::Descriptor_centers

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "GaussianSplats3D:centers",
            Loggable<rerun::components::Position3D>::ComponentType
        )

ComponentDescriptor for the centers field.

Descriptor_scales

constexpr auto rerun::archetypes::GaussianSplats3D::Descriptor_scales

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "GaussianSplats3D:scales",
            Loggable<rerun::components::Scale3D>::ComponentType
        )

ComponentDescriptor for the scales field.

Descriptor_quaternions

constexpr auto rerun::archetypes::GaussianSplats3D::Descriptor_quaternions

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "GaussianSplats3D:quaternions",
            Loggable<rerun::components::RotationQuat>::ComponentType
        )

ComponentDescriptor for the quaternions field.

Descriptor_colors

constexpr auto rerun::archetypes::GaussianSplats3D::Descriptor_colors

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "GaussianSplats3D:colors",
            Loggable<rerun::components::Color>::ComponentType
        )

ComponentDescriptor for the colors field.

Descriptor_sh_coefficients

constexpr auto rerun::archetypes::GaussianSplats3D::Descriptor_sh_coefficients

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "GaussianSplats3D:sh_coefficients",
            Loggable<rerun::components::SphericalHarmonics3Rgb>::ComponentType
        )

ComponentDescriptor for the sh_coefficients field.

Descriptor_spherical_harmonics_degree

constexpr auto rerun::archetypes::GaussianSplats3D::Descriptor_spherical_harmonics_degree

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "GaussianSplats3D:spherical_harmonics_degree",
            Loggable<rerun::components::SphericalHarmonicsDegree>::ComponentType
        )

ComponentDescriptor for the spherical_harmonics_degree field.

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

• rerun/archetypes/gaussian_splats3d.hpp