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 Member Functions
	InstancePoses3D (InstancePoses3D &&other)=default
	InstancePoses3D (const InstancePoses3D &other)=default
InstancePoses3D &	operator= (const InstancePoses3D &other)=default
InstancePoses3D &	operator= (InstancePoses3D &&other)=default
InstancePoses3D	with_translations (const Collection< rerun::components::PoseTranslation3D > &_translations) &&
	Translation vectors.
InstancePoses3D	with_rotation_axis_angles (const Collection< rerun::components::PoseRotationAxisAngle > &_rotation_axis_angles) &&
	Rotations via axis + angle.
InstancePoses3D	with_quaternions (const Collection< rerun::components::PoseRotationQuat > &_quaternions) &&
	Rotations via quaternion.
InstancePoses3D	with_scales (const Collection< rerun::components::PoseScale3D > &_scales) &&
	Scaling factors.
InstancePoses3D	with_mat3x3 (const Collection< rerun::components::PoseTransformMat3x3 > &_mat3x3) &&
	3x3 transformation matrices.
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 InstancePoses3D	update_fields ()
	Update only some specific fields of a InstancePoses3D.
static InstancePoses3D	clear_fields ()
	Clear all the fields of a InstancePoses3D.

Public Attributes
std::optional< ComponentBatch >	translations
	Translation vectors.
std::optional< ComponentBatch >	rotation_axis_angles
	Rotations via axis + angle.
std::optional< ComponentBatch >	quaternions
	Rotations via quaternion.
std::optional< ComponentBatch >	scales
	Scaling factors.
std::optional< ComponentBatch >	mat3x3
	3x3 transformation matrices.

Static Public Attributes
static constexpr const char	ArchetypeName [] = "rerun.archetypes.InstancePoses3D"
	The name of the archetype as used in ComponentDescriptors.
static constexpr auto	Descriptor_translations
	ComponentDescriptor for the translations 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_scales
	ComponentDescriptor for the scales field.
static constexpr auto	Descriptor_mat3x3
	ComponentDescriptor for the mat3x3 field.

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.

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.

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. Some visualizers like the mesh visualizer used for archetypes::Mesh3D, will draw an object for every pose, a behavior also known as "instancing".

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 Function Documentation

columns() [1/2]

Collection< ComponentColumn > rerun::archetypes::InstancePoses3D::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::InstancePoses3D::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

Descriptor_translations

constexpr auto rerun::archetypes::InstancePoses3D::Descriptor_translations

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "InstancePoses3D:translations",
            Loggable<rerun::components::PoseTranslation3D>::ComponentType
        )

ComponentDescriptor for the translations field.

Descriptor_rotation_axis_angles

constexpr auto rerun::archetypes::InstancePoses3D::Descriptor_rotation_axis_angles

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "InstancePoses3D:rotation_axis_angles",
            Loggable<rerun::components::PoseRotationAxisAngle>::ComponentType
        )

ComponentDescriptor for the rotation_axis_angles field.

Descriptor_quaternions

constexpr auto rerun::archetypes::InstancePoses3D::Descriptor_quaternions

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "InstancePoses3D:quaternions",
            Loggable<rerun::components::PoseRotationQuat>::ComponentType
        )

ComponentDescriptor for the quaternions field.

Descriptor_scales

constexpr auto rerun::archetypes::InstancePoses3D::Descriptor_scales

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "InstancePoses3D:scales",
            Loggable<rerun::components::PoseScale3D>::ComponentType
        )

ComponentDescriptor for the scales field.

Descriptor_mat3x3

constexpr auto rerun::archetypes::InstancePoses3D::Descriptor_mat3x3

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "InstancePoses3D:mat3x3",
            Loggable<rerun::components::PoseTransformMat3x3>::ComponentType
        )

ComponentDescriptor for the mat3x3 field.

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

• rerun/archetypes/instance_poses3d.hpp