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. m / pixel).

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. m / pixel).

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.

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::components::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::components::Colormap::RvizMap)
    );
}

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

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_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

◆ 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_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

◆ 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