rerun::archetypes::InstancePoses3D Struct Reference

Archetype: One or more transforms between the current entity and its parent. More...

#include <rerun/archetypes/instance_poses3d.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
	InstancePoses3D (InstancePoses3D &&other)=default
InstancePoses3D	with_translations (Collection< rerun::components::PoseTranslation3D > _translations) &&
	Translation vectors.
InstancePoses3D	with_rotation_axis_angles (Collection< rerun::components::PoseRotationAxisAngle > _rotation_axis_angles) &&
	Rotations via axis + angle.
InstancePoses3D	with_quaternions (Collection< rerun::components::PoseRotationQuat > _quaternions) &&
	Rotations via quaternion.
InstancePoses3D	with_scales (Collection< rerun::components::PoseScale3D > _scales) &&
	Scaling factors.
InstancePoses3D	with_mat3x3 (Collection< rerun::components::PoseTransformMat3x3 > _mat3x3) &&
	3x3 transformation matrices.

Public Attributes
std::optional< Collection< rerun::components::PoseTranslation3D > >	translations
	Translation vectors.
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::PoseScale3D > >	scales
	Scaling factors.
std::optional< Collection< rerun::components::PoseTransformMat3x3 > >	mat3x3
	3x3 transformation matrices.

Static Public Attributes
static constexpr const char	IndicatorComponentName []

Detailed Description

Archetype: One or more transforms between the current entity and its parent.

Unlike archetypes::Transform3D, it is not propagated in the transform hierarchy.

If both archetypes::InstancePoses3D and archetypes::Transform3D are present, first the tree propagating archetypes::Transform3D is applied, then archetypes::InstancePoses3D.

Currently, many visualizers support only a single instance transform per entity. Check archetype documentations for details - if not otherwise specified, only the first instance transform is applied.

From the point of view of the entity's coordinate system, all components are applied in the inverse order they are listed here. E.g. if both a translation and a max3x3 transform are present, the 3x3 matrix is applied first, followed by the translation.

Example

Regular & instance transforms in tandem

#include <rerun.hpp>
#include <rerun/demo_utils.hpp>
 
int main() {
    const auto rec = rerun::RecordingStream("rerun_example_instance_pose3d_combined");
    rec.set_time_sequence("frame", 0);
 
    // Log a box and points further down in the hierarchy.
    rec.log("world/box", rerun::Boxes3D::from_half_sizes({{1.0, 1.0, 1.0}}));
    rec.log(
        "world/box/points",
        rerun::Points3D(rerun::demo::grid3d<rerun::Position3D, float>(-10.0f, 10.0f, 10))
    );
 
    for (int i = 0; i <180; ++i) {
        rec.set_time_sequence("frame", i);
 
        // Log a regular transform which affects both the box and the points.
        rec.log(
            "world/box",
            rerun::Transform3D::from_rotation(rerun::RotationAxisAngle{
                {0.0f, 0.0f, 1.0f},
                rerun::Angle::degrees(static_cast<float>(i) * 2.0f)})
        );
 
        // Log an instance pose which affects only the box.
        rec.log(
            "world/box",
            rerun::InstancePoses3D().with_translations(
                {{0.0f, 0.0f, std::abs(static_cast<float>(i) * 0.1f - 5.0f) - 5.0f}}
            )
        );
    }
}

Member Data Documentation

IndicatorComponentName

constexpr const char rerun::archetypes::InstancePoses3D::IndicatorComponentName[]

staticconstexpr

Initial value:

=
            "rerun.components.InstancePoses3DIndicator"

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

• rerun/archetypes/instance_poses3d.hpp