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.

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 [archetype.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 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