rerun::archetypes::CoordinateFrame Struct Reference

Archetype: Specifies the coordinate frame for an entity. More...

#include <rerun/archetypes/coordinate_frame.hpp>

Public Member Functions
	CoordinateFrame (CoordinateFrame &&other)=default
	CoordinateFrame (const CoordinateFrame &other)=default
CoordinateFrame &	operator= (const CoordinateFrame &other)=default
CoordinateFrame &	operator= (CoordinateFrame &&other)=default
	CoordinateFrame (rerun::components::TransformFrameId _frame_id)
CoordinateFrame	with_frame_id (const rerun::components::TransformFrameId &_frame_id) &&
	The coordinate frame to use for the current entity.
CoordinateFrame	with_many_frame_id (const Collection< rerun::components::TransformFrameId > &_frame_id) &&
	This method makes it possible to pack multiple frame_id 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 CoordinateFrame	update_fields ()
	Update only some specific fields of a CoordinateFrame.
static CoordinateFrame	clear_fields ()
	Clear all the fields of a CoordinateFrame.

Public Attributes
std::optional< ComponentBatch >	frame_id
	The coordinate frame to use for the current entity.

Static Public Attributes
static constexpr const char	ArchetypeName [] = "rerun.archetypes.CoordinateFrame"
	The name of the archetype as used in ComponentDescriptors.
static constexpr auto	Descriptor_frame_id
	ComponentDescriptor for the frame_id field.

Detailed Description

Archetype: Specifies the coordinate frame for an entity.

Experimental: Transform frames are still in early development!

If not specified, the coordinate frame uses an implicit frame derived from the entity path. The implicit frame's name is tf#/your/entity/path and has an identity transform connection to its parent path.

To learn more about transforms see Spaces & Transforms in the reference.

Example

Change coordinate frame to different built-in frames

#include <rerun.hpp>
 
int main() {
    const auto rec = rerun::RecordingStream("rerun_example_transform3d_hierarchy");
    rec.spawn().exit_on_failure();
 
    rec.set_time_sequence("time", 0);
    rec.log(
        "red_box",
        rerun::Boxes3D::from_half_sizes({{0.5f, 0.5f, 0.5f}}
        ).with_colors({rerun::Color(255, 0, 0)}),
        // Use Transform3D to place the box, so we actually change the underlying coordinate frame and not just the box's pose.
        rerun::Transform3D::from_translation({2.0f, 0.0f, 0.0f})
    );
    rec.log(
        "blue_box",
        rerun::Boxes3D::from_half_sizes({{0.5f, 0.5f, 0.5f}}
        ).with_colors({rerun::Color(0, 0, 255)}),
        // Use Transform3D to place the box, so we actually change the underlying coordinate frame and not just the box's pose.
        rerun::Transform3D::from_translation({-2.0f, 0.0f, 0.0f})
    );
    rec.log("point", rerun::Points3D({{0.0f, 0.0f, 0.0f}}).with_radii({0.5f}));
 
    // Change where the point is located by cycling through its coordinate frame.
    const char* frame_ids[] = {"tf#/red_box", "tf#/blue_box"};
    for (int t = 0; t <2; t++) {
        rec.set_time_sequence("time", t + 1); // leave it untouched at t==0.
        rec.log("point", rerun::CoordinateFrame(frame_ids[t]));
    }
}

⚠ This type is unstable and may change significantly in a way that the data won't be backwards compatible.

Member Function Documentation

with_many_frame_id()

CoordinateFrame rerun::archetypes::CoordinateFrame::with_many_frame_id ( const Collection< rerun::components::TransformFrameId > &  _frame_id ) &&

inline

This method makes it possible to pack multiple frame_id in a single component batch.

This only makes sense when used in conjunction with columns. with_frame_id should be used when logging a single row's worth of data.

columns() [1/2]

Collection< ComponentColumn > rerun::archetypes::CoordinateFrame::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::CoordinateFrame::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_frame_id

constexpr auto rerun::archetypes::CoordinateFrame::Descriptor_frame_id

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "CoordinateFrame:frame_id",
            Loggable<rerun::components::TransformFrameId>::ComponentType
        )

ComponentDescriptor for the frame_id field.

---

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

• rerun/archetypes/coordinate_frame.hpp