Archetype: A 2D grid map stored as raster data in an image buffer, with a cell size in scene units and pose. More...

#include <rerun/archetypes/grid_map.hpp>

Public Member Functions
	GridMap (GridMap &&other)=default

	GridMap (const GridMap &other)=default

GridMap &	operator= (const GridMap &other)=default

GridMap &	operator= (GridMap &&other)=default

GridMap	with_data (const rerun::components::ImageBuffer &_data) &&
	The raw grid data.

GridMap	with_many_data (const Collection< rerun::components::ImageBuffer > &_data) &&
	This method makes it possible to pack multiple `data` in a single component batch.

GridMap	with_format (const rerun::components::ImageFormat &_format) &&
	The format of the grid's image data.

GridMap	with_many_format (const Collection< rerun::components::ImageFormat > &_format) &&
	This method makes it possible to pack multiple `format` in a single component batch.

GridMap	with_cell_size (const rerun::components::CellSize &_cell_size) &&
	The scene unit size of a single grid cell (e.g.

GridMap	with_many_cell_size (const Collection< rerun::components::CellSize > &_cell_size) &&
	This method makes it possible to pack multiple `cell_size` in a single component batch.

GridMap	with_translation (const rerun::components::Translation3D &_translation) &&
	Translation of the lower-left corner of the grid map in space.

GridMap	with_many_translation (const Collection< rerun::components::Translation3D > &_translation) &&
	This method makes it possible to pack multiple `translation` in a single component batch.

GridMap	with_rotation_axis_angle (const rerun::components::RotationAxisAngle &_rotation_axis_angle) &&
	Rotation of the lower-left corner of the grid map in space via axis + angle.

GridMap	with_many_rotation_axis_angle (const Collection< rerun::components::RotationAxisAngle > &_rotation_axis_angle) &&
	This method makes it possible to pack multiple `rotation_axis_angle` in a single component batch.

GridMap	with_quaternion (const rerun::components::RotationQuat &_quaternion) &&
	Rotation of the lower-left corner of the grid map in space via quaternion.

GridMap	with_many_quaternion (const Collection< rerun::components::RotationQuat > &_quaternion) &&
	This method makes it possible to pack multiple `quaternion` in a single component batch.

GridMap	with_opacity (const rerun::components::Opacity &_opacity) &&
	Opacity of the grid map texture after all image decoding and colormap application.

GridMap	with_many_opacity (const Collection< rerun::components::Opacity > &_opacity) &&
	This method makes it possible to pack multiple `opacity` in a single component batch.

GridMap	with_draw_order (const rerun::components::DrawOrder &_draw_order) &&
	Optional draw order for layering multiple grid maps that overlap in space.

GridMap	with_many_draw_order (const Collection< rerun::components::DrawOrder > &_draw_order) &&
	This method makes it possible to pack multiple `draw_order` in a single component batch.

GridMap	with_colormap (const rerun::components::Colormap &_colormap) &&
	Colormap to use for rendering single-channel grid maps.

GridMap	with_many_colormap (const Collection< rerun::components::Colormap > &_colormap) &&
	This method makes it possible to pack multiple `colormap` 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 GridMap	update_fields ()
	Update only some specific fields of a `GridMap`.

static GridMap	clear_fields ()
	Clear all the fields of a `GridMap`.

Public Attributes
std::optional< ComponentBatch >	data
	The raw grid data.

std::optional< ComponentBatch >	format
	The format of the grid's image data.

std::optional< ComponentBatch >	cell_size
	The scene unit size of a single grid cell (e.g.

std::optional< ComponentBatch >	translation
	Translation of the lower-left corner of the grid map in space.

std::optional< ComponentBatch >	rotation_axis_angle
	Rotation of the lower-left corner of the grid map in space via axis + angle.

std::optional< ComponentBatch >	quaternion
	Rotation of the lower-left corner of the grid map in space via quaternion.

std::optional< ComponentBatch >	opacity
	Opacity of the grid map texture after all image decoding and colormap application.

std::optional< ComponentBatch >	draw_order
	Optional draw order for layering multiple grid maps that overlap in space.

std::optional< ComponentBatch >	colormap
	Colormap to use for rendering single-channel grid maps.

Static Public Attributes
static constexpr const char	ArchetypeName [] = "rerun.archetypes.GridMap"
	The name of the archetype as used in `ComponentDescriptor`s.

static constexpr auto	Descriptor_data
	`ComponentDescriptor` for the `data` field.

static constexpr auto	Descriptor_format
	`ComponentDescriptor` for the `format` field.

static constexpr auto	Descriptor_cell_size
	`ComponentDescriptor` for the `cell_size` field.

static constexpr auto	Descriptor_translation
	`ComponentDescriptor` for the `translation` field.

static constexpr auto	Descriptor_rotation_axis_angle
	`ComponentDescriptor` for the `rotation_axis_angle` field.

static constexpr auto	Descriptor_quaternion
	`ComponentDescriptor` for the `quaternion` field.

static constexpr auto	Descriptor_opacity
	`ComponentDescriptor` for the `opacity` field.

static constexpr auto	Descriptor_draw_order
	`ComponentDescriptor` for the `draw_order` field.

static constexpr auto	Descriptor_colormap
	`ComponentDescriptor` for the `colormap` field.

Detailed Description

Archetype: A 2D grid map stored as raster data in an image buffer, with a cell size in scene units and pose.

This archetype is intended for robotics applications like occupancy maps or navigation costmaps, but can also be useful for other use cases where an image buffer needs to be placed in a scene.

Example

Simple occupancy grid map

#include <rerun.hpp>
 
#include <vector>
 
int main(int argc, char* argv[]) {
    const auto rec = rerun::RecordingStream("rerun_example_grid_map");
    rec.spawn().exit_on_failure();
 
    const size_t width = 64;
    const size_t height = 64;
    const float cell_size = 0.1f;
 
    // Create a synthetic image with ROS `nav_msgs/OccupancyGrid` cell value conventions:
    // -1 (255) unknown, 0 free, 100 occupied.
    std::vector<uint8_t> grid(width * height, 255);
    for (size_t y = 8; y <56; ++y) {
        for (size_t x = 8; x <56; ++x) {
            grid[y * width + x] = 0;
        }
    }
    for (size_t y = 20; y <44; ++y) {
        for (size_t x = 20; x <44; ++x) {
            grid[y * width + x] = 100;
        }
    }
 
    rec.log(
        "world/map",
        rerun::archetypes::GridMap()
            .with_data(rerun::ImageBuffer(grid))
            .with_format(rerun::components::ImageFormat(
                {width, height},
                rerun::ColorModel::L,
                rerun::ChannelDatatype::U8
            ))
            .with_cell_size(cell_size)
            .with_translation(
                {-(static_cast<float>(width) * cell_size) / 2.0f,
                 -(static_cast<float>(height) * cell_size) / 2.0f,
                 0.0f}
            )
            .with_colormap(rerun::Colormap::RvizMap)
    );
}

Member Function Documentation

◆ with_many_data()

GridMap rerun::archetypes::GridMap::with_many_data ( const Collection< rerun::components::ImageBuffer > & _data ) &&

inline

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

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

◆ with_many_format()

GridMap rerun::archetypes::GridMap::with_many_format ( const Collection< rerun::components::ImageFormat > & _format ) &&

inline

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

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

◆ with_cell_size()

GridMap rerun::archetypes::GridMap::with_cell_size ( const rerun::components::CellSize & _cell_size ) &&

inline

The scene unit size of a single grid cell (e.g.

m / pixel).

Defaults to 0.01 scene units per pixel.

◆ with_many_cell_size()

GridMap rerun::archetypes::GridMap::with_many_cell_size ( const Collection< rerun::components::CellSize > & _cell_size ) &&

inline

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

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

◆ with_translation()

GridMap rerun::archetypes::GridMap::with_translation ( const rerun::components::Translation3D & _translation ) &&

inline

Translation of the lower-left corner of the grid map in space.

Together with components::RotationAxisAngle or components::RotationQuat, this defines the pose of the lower-left image corner relative to the map's parent coordinate frame.

If not set, the lower-left image corner is placed at origin of the map's parent coordinate frame.

◆ with_many_translation()

GridMap rerun::archetypes::GridMap::with_many_translation ( const Collection< rerun::components::Translation3D > & _translation ) &&

inline

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

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

◆ with_rotation_axis_angle()

GridMap rerun::archetypes::GridMap::with_rotation_axis_angle ( const rerun::components::RotationAxisAngle & _rotation_axis_angle ) &&

inline

Rotation of the lower-left corner of the grid map in space via axis + angle.

Together with components::Translation3D, this defines the pose of the lower-left image corner relative to the map's parent coordinate frame.

Note: either this or components::RotationQuat can be set to specify the grid map's rotation, but not both. If both this and components::RotationQuat are set, this is ignored in favor of the quaternion.

◆ with_many_rotation_axis_angle()

GridMap rerun::archetypes::GridMap::with_many_rotation_axis_angle ( const Collection< rerun::components::RotationAxisAngle > & _rotation_axis_angle ) &&

inline

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

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

◆ with_quaternion()

GridMap rerun::archetypes::GridMap::with_quaternion ( const rerun::components::RotationQuat & _quaternion ) &&

inline

Rotation of the lower-left corner of the grid map in space via quaternion.

Together with components::Translation3D, this defines the pose of the lower-left image corner relative to the map's parent coordinate frame.

◆ with_many_quaternion()

GridMap rerun::archetypes::GridMap::with_many_quaternion ( const Collection< rerun::components::RotationQuat > & _quaternion ) &&

inline

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

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

◆ with_opacity()

GridMap rerun::archetypes::GridMap::with_opacity ( const rerun::components::Opacity & _opacity ) &&

inline

Opacity of the grid map texture after all image decoding and colormap application.

Defaults to 1.0 (fully opaque).

◆ with_many_opacity()

GridMap rerun::archetypes::GridMap::with_many_opacity ( const Collection< rerun::components::Opacity > & _opacity ) &&

inline

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

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

◆ with_draw_order()

GridMap rerun::archetypes::GridMap::with_draw_order ( const rerun::components::DrawOrder & _draw_order ) &&

inline

Optional draw order for layering multiple grid maps that overlap in space.

Higher values are drawn on top of lower values.

◆ with_many_draw_order()

GridMap rerun::archetypes::GridMap::with_many_draw_order ( const Collection< rerun::components::DrawOrder > & _draw_order ) &&

inline

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

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

◆ with_colormap()

GridMap rerun::archetypes::GridMap::with_colormap ( const rerun::components::Colormap & _colormap ) &&

inline

Colormap to use for rendering single-channel grid maps.

If not set, the grid map is shown using the underlying components::ImageFormat interpretation.

◆ with_many_colormap()

GridMap rerun::archetypes::GridMap::with_many_colormap ( const Collection< rerun::components::Colormap > & _colormap ) &&

inline

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

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

◆ columns() [1/2]

Collection< ComponentColumn > rerun::archetypes::GridMap::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::GridMap::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

◆ cell_size

std::optional<ComponentBatch> rerun::archetypes::GridMap::cell_size

The scene unit size of a single grid cell (e.g.

m / pixel).

Defaults to 0.01 scene units per pixel.

◆ translation

std::optional<ComponentBatch> rerun::archetypes::GridMap::translation

Translation of the lower-left corner of the grid map in space.

Together with components::RotationAxisAngle or components::RotationQuat, this defines the pose of the lower-left image corner relative to the map's parent coordinate frame.

If not set, the lower-left image corner is placed at origin of the map's parent coordinate frame.

◆ rotation_axis_angle

std::optional<ComponentBatch> rerun::archetypes::GridMap::rotation_axis_angle

Rotation of the lower-left corner of the grid map in space via axis + angle.

Together with components::Translation3D, this defines the pose of the lower-left image corner relative to the map's parent coordinate frame.

Note: either this or components::RotationQuat can be set to specify the grid map's rotation, but not both. If both this and components::RotationQuat are set, this is ignored in favor of the quaternion.

◆ quaternion

std::optional<ComponentBatch> rerun::archetypes::GridMap::quaternion

Rotation of the lower-left corner of the grid map in space via quaternion.

Together with components::Translation3D, this defines the pose of the lower-left image corner relative to the map's parent coordinate frame.

◆ opacity

std::optional<ComponentBatch> rerun::archetypes::GridMap::opacity

Opacity of the grid map texture after all image decoding and colormap application.

Defaults to 1.0 (fully opaque).

◆ draw_order

std::optional<ComponentBatch> rerun::archetypes::GridMap::draw_order

Optional draw order for layering multiple grid maps that overlap in space.

Higher values are drawn on top of lower values.

◆ colormap

std::optional<ComponentBatch> rerun::archetypes::GridMap::colormap

Colormap to use for rendering single-channel grid maps.

If not set, the grid map is shown using the underlying components::ImageFormat interpretation.

◆ Descriptor_data

constexpr auto rerun::archetypes::GridMap::Descriptor_data

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "GridMap:data", Loggable<rerun::components::ImageBuffer>::ComponentType
        )

ComponentDescriptor for the data field.

◆ Descriptor_format

constexpr auto rerun::archetypes::GridMap::Descriptor_format

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "GridMap:format", Loggable<rerun::components::ImageFormat>::ComponentType
        )

ComponentDescriptor for the format field.

◆ Descriptor_cell_size

constexpr auto rerun::archetypes::GridMap::Descriptor_cell_size

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "GridMap:cell_size", Loggable<rerun::components::CellSize>::ComponentType
        )

ComponentDescriptor for the cell_size field.

◆ Descriptor_translation

constexpr auto rerun::archetypes::GridMap::Descriptor_translation

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "GridMap:translation",
            Loggable<rerun::components::Translation3D>::ComponentType
        )

ComponentDescriptor for the translation field.

◆ Descriptor_rotation_axis_angle

constexpr auto rerun::archetypes::GridMap::Descriptor_rotation_axis_angle

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "GridMap:rotation_axis_angle",
            Loggable<rerun::components::RotationAxisAngle>::ComponentType
        )

ComponentDescriptor for the rotation_axis_angle field.

◆ Descriptor_quaternion

constexpr auto rerun::archetypes::GridMap::Descriptor_quaternion

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "GridMap:quaternion",
            Loggable<rerun::components::RotationQuat>::ComponentType
        )

ComponentDescriptor for the quaternion field.

◆ Descriptor_opacity

constexpr auto rerun::archetypes::GridMap::Descriptor_opacity

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "GridMap:opacity", Loggable<rerun::components::Opacity>::ComponentType
        )

ComponentDescriptor for the opacity field.

◆ Descriptor_draw_order

constexpr auto rerun::archetypes::GridMap::Descriptor_draw_order

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "GridMap:draw_order",
            Loggable<rerun::components::DrawOrder>::ComponentType
        )

ComponentDescriptor for the draw_order field.

◆ Descriptor_colormap

constexpr auto rerun::archetypes::GridMap::Descriptor_colormap

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "GridMap:colormap", Loggable<rerun::components::Colormap>::ComponentType
        )

ComponentDescriptor for the colormap field.

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

rerun/archetypes/grid_map.hpp

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

Example

Simple occupancy grid map

Member Function Documentation

◆ with_many_data()

◆ with_many_format()

◆ with_cell_size()

◆ with_many_cell_size()

◆ with_translation()

◆ with_many_translation()

◆ with_rotation_axis_angle()

◆ with_many_rotation_axis_angle()

◆ with_quaternion()

◆ with_many_quaternion()

◆ with_opacity()

◆ with_many_opacity()

◆ with_draw_order()

◆ with_many_draw_order()

◆ with_colormap()

◆ with_many_colormap()

◆ columns() [1/2]

◆ columns() [2/2]

Member Data Documentation

◆ cell_size

◆ translation

◆ rotation_axis_angle

◆ quaternion

◆ opacity

◆ draw_order

◆ colormap

◆ Descriptor_data

◆ Descriptor_format

◆ Descriptor_cell_size

◆ Descriptor_translation

◆ Descriptor_rotation_axis_angle

◆ Descriptor_quaternion

◆ Descriptor_opacity

◆ Descriptor_draw_order

◆ Descriptor_colormap