Archetype: One or more transforms between the current entity and its parent. More...

#include <rerun/archetypes/instance_poses3d.hpp>

Public Member Functions
	InstancePoses3D (InstancePoses3D &&other)=default

	InstancePoses3D (const InstancePoses3D &other)=default

InstancePoses3D &	operator= (const InstancePoses3D &other)=default

InstancePoses3D &	operator= (InstancePoses3D &&other)=default

InstancePoses3D	with_translations (const Collection< rerun::components::PoseTranslation3D > &_translations) &&
	Translation vectors.

InstancePoses3D	with_rotation_axis_angles (const Collection< rerun::components::PoseRotationAxisAngle > &_rotation_axis_angles) &&
	Rotations via axis + angle.

InstancePoses3D	with_quaternions (const Collection< rerun::components::PoseRotationQuat > &_quaternions) &&
	Rotations via quaternion.

InstancePoses3D	with_scales (const Collection< rerun::components::PoseScale3D > &_scales) &&
	Scaling factors.

InstancePoses3D	with_mat3x3 (const Collection< rerun::components::PoseTransformMat3x3 > &_mat3x3) &&
	3x3 transformation matrices.

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 InstancePoses3D	update_fields ()
	Update only some specific fields of a `InstancePoses3D`.

static InstancePoses3D	clear_fields ()
	Clear all the fields of a `InstancePoses3D`.

Public Attributes
std::optional< ComponentBatch >	translations
	Translation vectors.

std::optional< ComponentBatch >	rotation_axis_angles
	Rotations via axis + angle.

std::optional< ComponentBatch >	quaternions
	Rotations via quaternion.

std::optional< ComponentBatch >	scales
	Scaling factors.

std::optional< ComponentBatch >	mat3x3
	3x3 transformation matrices.

Static Public Attributes
static constexpr const char	ArchetypeName [] = "rerun.archetypes.InstancePoses3D"
	The name of the archetype as used in `ComponentDescriptor`s.

static constexpr auto	Descriptor_translations
	`ComponentDescriptor` for the `translations` field.

static constexpr auto	Descriptor_rotation_axis_angles
	`ComponentDescriptor` for the `rotation_axis_angles` field.

static constexpr auto	Descriptor_quaternions
	`ComponentDescriptor` for the `quaternions` field.

static constexpr auto	Descriptor_scales
	`ComponentDescriptor` for the `scales` field.

static constexpr auto	Descriptor_mat3x3
	`ComponentDescriptor` for the `mat3x3` field.

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.

Whenever you log this archetype, the state of the resulting overall pose is fully reset to the new archetype. This means that if you first log a pose with only a translation, and then log one with only a rotation, it will be resolved to a pose with only a rotation. (This is unlike how we usually apply latest-at semantics on an archetype where we take the latest state of any component independently)

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 archetypes::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 Function Documentation

◆ with_translations()

InstancePoses3D rerun::archetypes::InstancePoses3D::with_translations ( const Collection< rerun::components::PoseTranslation3D > & _translations ) &&

inline

Translation vectors.

Any update to this field will reset all other transform properties that aren't changed in the same log call or send_columns row.

◆ with_rotation_axis_angles()

InstancePoses3D rerun::archetypes::InstancePoses3D::with_rotation_axis_angles ( const Collection< rerun::components::PoseRotationAxisAngle > & _rotation_axis_angles ) &&

inline

Rotations via axis + angle.

Any update to this field will reset all other transform properties that aren't changed in the same log call or send_columns row.

◆ with_quaternions()

InstancePoses3D rerun::archetypes::InstancePoses3D::with_quaternions ( const Collection< rerun::components::PoseRotationQuat > & _quaternions ) &&

inline

Rotations via quaternion.

Any update to this field will reset all other transform properties that aren't changed in the same log call or send_columns row.

◆ with_scales()

InstancePoses3D rerun::archetypes::InstancePoses3D::with_scales ( const Collection< rerun::components::PoseScale3D > & _scales ) &&

inline

Scaling factors.

Any update to this field will reset all other transform properties that aren't changed in the same log call or send_columns row.

◆ with_mat3x3()

InstancePoses3D rerun::archetypes::InstancePoses3D::with_mat3x3 ( const Collection< rerun::components::PoseTransformMat3x3 > & _mat3x3 ) &&

inline

3x3 transformation matrices.

Any update to this field will reset all other transform properties that aren't changed in the same log call or send_columns row.

◆ columns() [1/2]

Collection< ComponentColumn > rerun::archetypes::InstancePoses3D::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::InstancePoses3D::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

◆ translations

std::optional<ComponentBatch> rerun::archetypes::InstancePoses3D::translations

Translation vectors.

Any update to this field will reset all other transform properties that aren't changed in the same log call or send_columns row.

◆ rotation_axis_angles

std::optional<ComponentBatch> rerun::archetypes::InstancePoses3D::rotation_axis_angles

Rotations via axis + angle.

Any update to this field will reset all other transform properties that aren't changed in the same log call or send_columns row.

◆ quaternions

std::optional<ComponentBatch> rerun::archetypes::InstancePoses3D::quaternions

Rotations via quaternion.

Any update to this field will reset all other transform properties that aren't changed in the same log call or send_columns row.

◆ scales

std::optional<ComponentBatch> rerun::archetypes::InstancePoses3D::scales

Scaling factors.

Any update to this field will reset all other transform properties that aren't changed in the same log call or send_columns row.

◆ mat3x3

std::optional<ComponentBatch> rerun::archetypes::InstancePoses3D::mat3x3

3x3 transformation matrices.

Any update to this field will reset all other transform properties that aren't changed in the same log call or send_columns row.

◆ Descriptor_translations

constexpr auto rerun::archetypes::InstancePoses3D::Descriptor_translations

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "InstancePoses3D:translations",
            Loggable<rerun::components::PoseTranslation3D>::ComponentType
        )

ComponentDescriptor for the translations field.

◆ Descriptor_rotation_axis_angles

constexpr auto rerun::archetypes::InstancePoses3D::Descriptor_rotation_axis_angles

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "InstancePoses3D:rotation_axis_angles",
            Loggable<rerun::components::PoseRotationAxisAngle>::ComponentType
        )

ComponentDescriptor for the rotation_axis_angles field.

◆ Descriptor_quaternions

constexpr auto rerun::archetypes::InstancePoses3D::Descriptor_quaternions

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "InstancePoses3D:quaternions",
            Loggable<rerun::components::PoseRotationQuat>::ComponentType
        )

ComponentDescriptor for the quaternions field.

◆ Descriptor_scales

constexpr auto rerun::archetypes::InstancePoses3D::Descriptor_scales

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "InstancePoses3D:scales",
            Loggable<rerun::components::PoseScale3D>::ComponentType
        )

ComponentDescriptor for the scales field.

◆ Descriptor_mat3x3

constexpr auto rerun::archetypes::InstancePoses3D::Descriptor_mat3x3

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "InstancePoses3D:mat3x3",
            Loggable<rerun::components::PoseTransformMat3x3>::ComponentType
        )

ComponentDescriptor for the mat3x3 field.

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

rerun/archetypes/instance_poses3d.hpp

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

Example

Regular & instance transforms in tandem

Member Function Documentation

◆ with_translations()

◆ with_rotation_axis_angles()

◆ with_quaternions()

◆ with_scales()

◆ with_mat3x3()

◆ columns() [1/2]

◆ columns() [2/2]

Member Data Documentation

◆ translations

◆ rotation_axis_angles

◆ quaternions

◆ scales

◆ mat3x3

◆ Descriptor_translations

◆ Descriptor_rotation_axis_angles

◆ Descriptor_quaternions

◆ Descriptor_scales

◆ Descriptor_mat3x3