Archetype: A transform between two 3D spaces, i.e. More...

#include <rerun/archetypes/transform3d.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
	Transform3D (const components::Translation3D &translation_, const datatypes::Vec3D(&columns)[3], bool from_parent=false)
	Creates a new 3D transform from translation and matrix provided as 3 columns.

	Transform3D (const components::Translation3D &translation_, const components::TransformMat3x3 &mat3x3_, bool from_parent=false)
	Creates a new 3D transform from translation/matrix.

	Transform3D (const components::Translation3D &translation_, bool from_parent=false)
	From translation only.

	Transform3D (const components::TransformMat3x3 &mat3x3_, bool from_parent=false)
	From 3x3 matrix only.

	Transform3D (const datatypes::Vec3D(&columns)[3], bool from_parent=false)
	From 3x3 matrix provided as 3 columns only.

	Transform3D (const components::Translation3D &translation_, const Rotation3D &rotation, const components::Scale3D &scale_, bool from_parent=false)
	Creates a new 3D transform from translation/rotation/scale.

	Transform3D (const components::Translation3D &translation_, const Rotation3D &rotation, float uniform_scale, bool from_parent=false)
	Creates a new 3D transform from translation/rotation/uniform-scale.

	Transform3D (const components::Translation3D &translation_, const Rotation3D &rotation, bool from_parent=false)
	Creates a new rigid transform (translation & rotation only).

	Transform3D (const components::Translation3D &translation_, const components::Scale3D &scale_, bool from_parent=false)
	From translation & scale only.

	Transform3D (const components::Translation3D &translation_, float uniform_scale, bool from_parent=false)
	From translation & uniform scale only.

	Transform3D (const Rotation3D &rotation, const components::Scale3D &scale_, bool from_parent=false)
	From rotation & scale.

	Transform3D (const Rotation3D &rotation, float uniform_scale, bool from_parent=false)
	From rotation & uniform scale.

	Transform3D (const Rotation3D &rotation, bool from_parent=false)
	From rotation only.

	Transform3D (const components::Scale3D &scale_, bool from_parent=false)
	From scale only.

	Transform3D (Transform3D &&other)=default

Transform3D	with_translation (rerun::components::Translation3D _translation) &&
	Translation vector.

Transform3D	with_rotation_axis_angle (rerun::components::RotationAxisAngle _rotation_axis_angle) &&
	Rotation via axis + angle.

Transform3D	with_quaternion (rerun::components::RotationQuat _quaternion) &&
	Rotation via quaternion.

Transform3D	with_scale (rerun::components::Scale3D _scale) &&
	Scaling factor.

Transform3D	with_mat3x3 (rerun::components::TransformMat3x3 _mat3x3) &&
	3x3 transformation matrix.

Transform3D	with_relation (rerun::components::TransformRelation _relation) &&
	Specifies the relation this transform establishes between this entity and its parent.

Transform3D	with_axis_length (rerun::components::AxisLength _axis_length) &&
	Visual length of the 3 axes.

Static Public Member Functions
static Transform3D	from_translation_mat3x3 (const components::Translation3D &translation, const components::TransformMat3x3 &mat3x3)
	From a translation applied after a 3x3 matrix.

static Transform3D	from_translation_mat3x3 (const components::Translation3D &translation, const datatypes::Vec3D(&columns)[3])
	From a translation applied after a 3x3 matrix provided as 3 columns.

static Transform3D	from_translation (const components::Translation3D &translation)
	From a translation.

static Transform3D	from_mat3x3 (const components::TransformMat3x3 &mat3x3)
	From 3x3 matrix only.

static Transform3D	from_mat3x3 (const datatypes::Vec3D(&columns)[3])
	From 3x3 matrix provided as 3 columns only.

static Transform3D	from_translation_rotation_scale (const components::Translation3D &translation, const Rotation3D &rotation, const components::Scale3D &scale)
	From a translation, applied after a rotation & scale, known as an affine transformation.

static Transform3D	from_translation_rotation_scale (const components::Translation3D &translation, const Rotation3D &rotation, float uniform_scale)
	From a translation, applied after a rotation & scale, known as an affine transformation.

static Transform3D	from_translation_rotation (const components::Translation3D &translation, const Rotation3D &rotation)
	From a rotation & scale.

static Transform3D	from_translation_scale (const components::Translation3D &translation, const components::Scale3D &scale)
	From a translation applied after a scale.

static Transform3D	from_rotation_scale (const Rotation3D &rotation, const components::Scale3D &scale)
	From a rotation & scale.

static Transform3D	from_rotation_scale (const Rotation3D &rotation, float uniform_scale)
	From a rotation & uniform scale.

static Transform3D	from_rotation (const Rotation3D &rotation)
	From rotation only.

static Transform3D	from_scale (const components::Scale3D &scale)
	From scale only.

static Transform3D	from_scale (float uniform_scale)
	From scale only.

Public Attributes
std::optional< rerun::components::Translation3D >	translation
	Translation vector.

std::optional< rerun::components::RotationAxisAngle >	rotation_axis_angle
	Rotation via axis + angle.

std::optional< rerun::components::RotationQuat >	quaternion
	Rotation via quaternion.

std::optional< rerun::components::Scale3D >	scale
	Scaling factor.

std::optional< rerun::components::TransformMat3x3 >	mat3x3
	3x3 transformation matrix.

std::optional< rerun::components::TransformRelation >	relation
	Specifies the relation this transform establishes between this entity and its parent.

std::optional< rerun::components::AxisLength >	axis_length
	Visual length of the 3 axes.

Static Public Attributes
static constexpr const char	IndicatorComponentName []

static RERUN_SDK_EXPORT const Transform3D	IDENTITY
	Identity transformation.

Detailed Description

Archetype: A transform between two 3D spaces, i.e.

a pose.

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.

Whenever you log this archetype, it will write all components, even if you do not explicitly set them. This means that if you first log a transform with only a translation, and then log one with only a rotation, it will be resolved to a transform with only a rotation.

Examples

Variety of 3D transforms

#include <rerun.hpp>
 
constexpr float TAU = 6.28318530717958647692528676655900577f;
 
int main() {
    const auto rec = rerun::RecordingStream("rerun_example_transform3d");
    rec.spawn().exit_on_failure();
 
    auto arrow =
        rerun::Arrows3D::from_vectors({{0.0f, 1.0f, 0.0f}}).with_origins({{0.0f, 0.0f, 0.0f}});
 
    rec.log("base", arrow);
 
    rec.log("base/translated", rerun::Transform3D::from_translation({1.0f, 0.0f, 0.0f}));
    rec.log("base/translated", arrow);
 
    rec.log(
        "base/rotated_scaled",
        rerun::Transform3D::from_rotation_scale(
            rerun::RotationAxisAngle({0.0f, 0.0f, 1.0f}, rerun::Angle::radians(TAU / 8.0f)),
            2.0f
        )
    );
    rec.log("base/rotated_scaled", arrow);
}

Transform hierarchy

#include <rerun.hpp>
 
constexpr float TAU = 6.28318530717958647692528676655900577f;
 
int main() {
    const auto rec = rerun::RecordingStream("rerun_example_transform3d_hierarchy");
    rec.spawn().exit_on_failure();
 
    // TODO(#5521): log two space views as in the python example
 
    rec.set_time_seconds("sim_time", 0.0);
 
    // Planetary motion is typically in the XY plane.
    rec.log_static("/", rerun::ViewCoordinates::RIGHT_HAND_Z_UP);
 
    // Setup points, all are in the center of their own space:
    rec.log(
        "sun",
        rerun::Points3D({{0.0f, 0.0f, 0.0f}})
            .with_radii({1.0f})
            .with_colors({rerun::Color(255, 200, 10)})
    );
    rec.log(
        "sun/planet",
        rerun::Points3D({{0.0f, 0.0f, 0.0f}})
            .with_radii({0.4f})
            .with_colors({rerun::Color(40, 80, 200)})
    );
    rec.log(
        "sun/planet/moon",
        rerun::Points3D({{0.0f, 0.0f, 0.0f}})
            .with_radii({0.15f})
            .with_colors({rerun::Color(180, 180, 180)})
    );
 
    // Draw fixed paths where the planet & moon move.
    float d_planet = 6.0f;
    float d_moon = 3.0f;
    std::vector<std::array<float, 3>> planet_path, moon_path;
    for (int i = 0; i <= 100; i++) {
        float angle = static_cast<float>(i) * 0.01f * TAU;
        float circle_x = std::sin(angle);
        float circle_y = std::cos(angle);
        planet_path.push_back({circle_x * d_planet, circle_y * d_planet, 0.0f});
        moon_path.push_back({circle_x * d_moon, circle_y * d_moon, 0.0f});
    }
    rec.log("sun/planet_path", rerun::LineStrips3D(rerun::LineStrip3D(planet_path)));
    rec.log("sun/planet/moon_path", rerun::LineStrips3D(rerun::LineStrip3D(moon_path)));
 
    // Movement via transforms.
    for (int i = 0; i <6 * 120; i++) {
        float time = static_cast<float>(i) / 120.0f;
        rec.set_time_seconds("sim_time", time);
        float r_moon = time * 5.0f;
        float r_planet = time * 2.0f;
 
        rec.log(
            "sun/planet",
            rerun::Transform3D::from_translation_rotation(
                {std::sin(r_planet) * d_planet, std::cos(r_planet) * d_planet, 0.0f},
                rerun::RotationAxisAngle{
                    {1.0, 0.0f, 0.0f},
                    rerun::Angle::degrees(20.0f),
                }
            )
        );
        rec.log(
            "sun/planet/moon",
            rerun::Transform3D::from_translation(
                {std::cos(r_moon) * d_moon, std::sin(r_moon) * d_moon, 0.0f}
            )
                .with_relation(rerun::components::TransformRelation::ChildFromParent)
        );
    }
}

Constructor & Destructor Documentation

◆ Transform3D() [1/14]

rerun::archetypes::Transform3D::Transform3D	(	const components::Translation3D &	translation_,
		const datatypes::Vec3D(&)	columns[3],
		bool	from_parent = `false`
	)

inline

Creates a new 3D transform from translation and matrix provided as 3 columns.

Parameters

translation_	\çopydoc Transform3D::translation
columns	Column vectors of 3x3 matrix.
from_parent	If true, the transform relation to `TransformRelation::ChildFromParent`.

Implementation note: This overload is necessary, otherwise the array may be interpreted as bool and call the wrong overload.

◆ Transform3D() [2/14]

rerun::archetypes::Transform3D::Transform3D	(	const components::Translation3D &	translation_,
		const components::TransformMat3x3 &	mat3x3_,
		bool	from_parent = `false`
	)

inline

Creates a new 3D transform from translation/matrix.

Parameters

translation_	\çopydoc Transform3D::translation
mat3x3_	3x3 transformation matrix.
from_parent	If true, the transform relation to `TransformRelation::ChildFromParent`.

◆ Transform3D() [3/14]

rerun::archetypes::Transform3D::Transform3D	(	const components::Translation3D &	translation_,
		bool	from_parent = `false`
	)

inline

From translation only.

Parameters

translation_	\çopydoc Transform3D::translation
from_parent	If true, the transform relation to `TransformRelation::ChildFromParent`.

◆ Transform3D() [4/14]

rerun::archetypes::Transform3D::Transform3D	(	const components::TransformMat3x3 &	mat3x3_,
		bool	from_parent = `false`
	)

inline

From 3x3 matrix only.

Parameters

mat3x3_	3x3 transformation matrix.
from_parent	If true, the transform relation to `TransformRelation::ChildFromParent`.

◆ Transform3D() [5/14]

rerun::archetypes::Transform3D::Transform3D	(	const datatypes::Vec3D(&)	columns[3],
		bool	from_parent = `false`
	)

inline

From 3x3 matrix provided as 3 columns only.

Parameters

columns	Column vectors of 3x3 matrix.
from_parent	If true, the transform relation to `TransformRelation::ChildFromParent`.

◆ Transform3D() [6/14]

rerun::archetypes::Transform3D::Transform3D	(	const components::Translation3D &	translation_,
		const Rotation3D &	rotation,
		const components::Scale3D &	scale_,
		bool	from_parent = `false`
	)

inline

Creates a new 3D transform from translation/rotation/scale.

Parameters

translation_	Translation vector.
rotation	Rotation represented either as a quaternion or axis + angle rotation.
scale_	Scaling factor.
from_parent	If true, the transform relation to `TransformRelation::ChildFromParent`.

◆ Transform3D() [7/14]

rerun::archetypes::Transform3D::Transform3D	(	const components::Translation3D &	translation_,
		const Rotation3D &	rotation,
		float	uniform_scale,
		bool	from_parent = `false`
	)

inline

Creates a new 3D transform from translation/rotation/uniform-scale.

Parameters

translation_	Translation vector.
rotation	Rotation represented either as a quaternion or axis + angle rotation.
uniform_scale	Uniform scale factor that is applied to all axis equally.
from_parent	If true, the transform relation to `TransformRelation::ChildFromParent`.

Implementation note: This explicit overload prevents interpretation of the float as bool, leading to a call to the wrong overload.

◆ Transform3D() [8/14]

rerun::archetypes::Transform3D::Transform3D	(	const components::Translation3D &	translation_,
		const Rotation3D &	rotation,
		bool	from_parent = `false`
	)

inline

Creates a new rigid transform (translation & rotation only).

Parameters

translation_	Translation vector.
rotation	Rotation represented either as a quaternion or axis + angle rotation.
from_parent	If true, the transform relation to `TransformRelation::ChildFromParent`.

◆ Transform3D() [9/14]

rerun::archetypes::Transform3D::Transform3D	(	const components::Translation3D &	translation_,
		const components::Scale3D &	scale_,
		bool	from_parent = `false`
	)

inline

From translation & scale only.

Parameters

translation_	Translation vector.
scale_	Transform3D::scale
from_parent	If true, the transform relation to `TransformRelation::ChildFromParent`.

◆ Transform3D() [10/14]

rerun::archetypes::Transform3D::Transform3D	(	const components::Translation3D &	translation_,
		float	uniform_scale,
		bool	from_parent = `false`
	)

inline

From translation & uniform scale only.

Parameters

translation_	Translation vector.
uniform_scale	Uniform scale factor that is applied to all axis equally.
from_parent	If true, the transform relation to `TransformRelation::ChildFromParent`.

Implementation note: This explicit overload prevents interpretation of the float as bool, leading to a call to the wrong overload.

◆ Transform3D() [11/14]

rerun::archetypes::Transform3D::Transform3D	(	const Rotation3D &	rotation,
		const components::Scale3D &	scale_,
		bool	from_parent = `false`
	)

inline

From rotation & scale.

Parameters

rotation	Rotation represented either as a quaternion or axis + angle rotation.
scale_	Transform3D::scale
from_parent	If true, the transform relation to `TransformRelation::ChildFromParent`.

◆ Transform3D() [12/14]

rerun::archetypes::Transform3D::Transform3D	(	const Rotation3D &	rotation,
		float	uniform_scale,
		bool	from_parent = `false`
	)

inline

From rotation & uniform scale.

Parameters

rotation	Rotation represented either as a quaternion or axis + angle rotation.
uniform_scale	Uniform scale factor that is applied to all axis equally.
from_parent	If true, the transform relation to `TransformRelation::ChildFromParent`.

Implementation note: This explicit overload prevents interpretation of the float as bool, leading to a call to the wrong overload.

◆ Transform3D() [13/14]

rerun::archetypes::Transform3D::Transform3D	(	const Rotation3D &	rotation,
		bool	from_parent = `false`
	)

inline

From rotation only.

Parameters

rotation	Rotation represented either as a quaternion or axis + angle rotation.
from_parent	If true, the transform relation to `TransformRelation::ChildFromParent`.

◆ Transform3D() [14/14]

rerun::archetypes::Transform3D::Transform3D	(	const components::Scale3D &	scale_,
		bool	from_parent = `false`
	)

inline

From scale only.

Parameters

scale_	If true, the transform relation to `TransformRelation::ChildFromParent`.
from_parent	Scaling factor.

Member Function Documentation

◆ from_translation_mat3x3() [1/2]

static Transform3D rerun::archetypes::Transform3D::from_translation_mat3x3	(	const components::Translation3D &	translation,
		const components::TransformMat3x3 &	mat3x3
	)

inlinestatic

From a translation applied after a 3x3 matrix.

Parameters

translation	\çopydoc Transform3D::translation
mat3x3	3x3 transformation matrix.

◆ from_translation_mat3x3() [2/2]

static Transform3D rerun::archetypes::Transform3D::from_translation_mat3x3	(	const components::Translation3D &	translation,
		const datatypes::Vec3D(&)	columns[3]
	)

inlinestatic

From a translation applied after a 3x3 matrix provided as 3 columns.

Parameters

translation	\çopydoc Transform3D::translation
columns	Column vectors of 3x3 matrix.

◆ from_translation()

static Transform3D rerun::archetypes::Transform3D::from_translation ( const components::Translation3D & translation )

inlinestatic

From a translation.

Parameters

translation \çopydoc Transform3D::translation

◆ from_mat3x3() [1/2]

static Transform3D rerun::archetypes::Transform3D::from_mat3x3 ( const components::TransformMat3x3 & mat3x3 )

inlinestatic

From 3x3 matrix only.

Parameters

mat3x3 3x3 transformation matrix.

◆ from_mat3x3() [2/2]

static Transform3D rerun::archetypes::Transform3D::from_mat3x3 ( const datatypes::Vec3D(&) columns[3] )

inlinestatic

From 3x3 matrix provided as 3 columns only.

Parameters

columns Column vectors of 3x3 matrix.

◆ from_translation_rotation_scale() [1/2]

static Transform3D rerun::archetypes::Transform3D::from_translation_rotation_scale	(	const components::Translation3D &	translation,
		const Rotation3D &	rotation,
		const components::Scale3D &	scale
	)

inlinestatic

From a translation, applied after a rotation & scale, known as an affine transformation.

Parameters

translation	Translation vector.
rotation	Rotation represented either as a quaternion or axis + angle rotation.
scale	Scaling factor.

◆ from_translation_rotation_scale() [2/2]

static Transform3D rerun::archetypes::Transform3D::from_translation_rotation_scale	(	const components::Translation3D &	translation,
		const Rotation3D &	rotation,
		float	uniform_scale
	)

inlinestatic

From a translation, applied after a rotation & scale, known as an affine transformation.

Parameters

translation	Translation vector.
rotation	Rotation represented either as a quaternion or axis + angle rotation.
uniform_scale	Uniform scale factor that is applied to all axis equally.

◆ from_translation_rotation()

static Transform3D rerun::archetypes::Transform3D::from_translation_rotation	(	const components::Translation3D &	translation,
		const Rotation3D &	rotation
	)

inlinestatic

From a rotation & scale.

Parameters

translation	Translation vector.
rotation	Rotation represented either as a quaternion or axis + angle rotation.

◆ from_translation_scale()

static Transform3D rerun::archetypes::Transform3D::from_translation_scale	(	const components::Translation3D &	translation,
		const components::Scale3D &	scale
	)

inlinestatic

From a translation applied after a scale.

Parameters

translation	Translation vector.
scale	Transform3D::scale

◆ from_rotation_scale() [1/2]

static Transform3D rerun::archetypes::Transform3D::from_rotation_scale	(	const Rotation3D &	rotation,
		const components::Scale3D &	scale
	)

inlinestatic

From a rotation & scale.

Parameters

rotation	Rotation represented either as a quaternion or axis + angle rotation.
scale	Transform3D::scale

◆ from_rotation_scale() [2/2]

static Transform3D rerun::archetypes::Transform3D::from_rotation_scale	(	const Rotation3D &	rotation,
		float	uniform_scale
	)

inlinestatic

From a rotation & uniform scale.

Parameters

rotation	Rotation represented either as a quaternion or axis + angle rotation.
uniform_scale	Uniform scale factor that is applied to all axis equally.

◆ from_rotation()

static Transform3D rerun::archetypes::Transform3D::from_rotation ( const Rotation3D & rotation )

inlinestatic

From rotation only.

Parameters

rotation Rotation represented either as a quaternion or axis + angle rotation.

◆ from_scale() [1/2]

static Transform3D rerun::archetypes::Transform3D::from_scale ( const components::Scale3D & scale )

inlinestatic

From scale only.

Parameters

scale Transform3D::scale

◆ from_scale() [2/2]

static Transform3D rerun::archetypes::Transform3D::from_scale ( float uniform_scale )

inlinestatic

From scale only.

Parameters

uniform_scale Uniform scale factor that is applied to all axis equally.

◆ with_axis_length()

Transform3D rerun::archetypes::Transform3D::with_axis_length ( rerun::components::AxisLength _axis_length ) &&

inline

Visual length of the 3 axes.

The length is interpreted in the local coordinate system of the transform. If the transform is scaled, the axes will be scaled accordingly.

Member Data Documentation

◆ axis_length

std::optional<rerun::components::AxisLength> rerun::archetypes::Transform3D::axis_length

Visual length of the 3 axes.

The length is interpreted in the local coordinate system of the transform. If the transform is scaled, the axes will be scaled accordingly.

◆ IndicatorComponentName

constexpr const char rerun::archetypes::Transform3D::IndicatorComponentName[]

staticconstexpr

Initial value:

=

"rerun.components.Transform3DIndicator"

◆ IDENTITY

RERUN_SDK_EXPORT const Transform3D rerun::archetypes::Transform3D::IDENTITY

static

Identity transformation.

Applying this transform does not alter an entity's transformation.

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

rerun/archetypes/transform3d.hpp

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

Examples

Variety of 3D transforms

Transform hierarchy

Constructor & Destructor Documentation

◆ Transform3D() [1/14]

◆ Transform3D() [2/14]

◆ Transform3D() [3/14]

◆ Transform3D() [4/14]

◆ Transform3D() [5/14]

◆ Transform3D() [6/14]

◆ Transform3D() [7/14]

◆ Transform3D() [8/14]

◆ Transform3D() [9/14]

◆ Transform3D() [10/14]

◆ Transform3D() [11/14]

◆ Transform3D() [12/14]

◆ Transform3D() [13/14]

◆ Transform3D() [14/14]

Member Function Documentation

◆ from_translation_mat3x3() [1/2]

◆ from_translation_mat3x3() [2/2]

◆ from_translation()

◆ from_mat3x3() [1/2]

◆ from_mat3x3() [2/2]

◆ from_translation_rotation_scale() [1/2]

◆ from_translation_rotation_scale() [2/2]

◆ from_translation_rotation()

◆ from_translation_scale()

◆ from_rotation_scale() [1/2]

◆ from_rotation_scale() [2/2]

◆ from_rotation()

◆ from_scale() [1/2]

◆ from_scale() [2/2]

◆ with_axis_length()

Member Data Documentation

◆ axis_length

◆ IndicatorComponentName

◆ IDENTITY