rerun::archetypes::InstancePoses3D Struct Reference

Archetype: One or more transforms applied on the current entity's transform frame. 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::Translation3D > &_translations) &&
	Translation vectors.
InstancePoses3D	with_rotation_axis_angles (const Collection< rerun::components::RotationAxisAngle > &_rotation_axis_angles) &&
	Rotations via axis + angle.
InstancePoses3D	with_quaternions (const Collection< rerun::components::RotationQuat > &_quaternions) &&
	Rotations via quaternion.
InstancePoses3D	with_scales (const Collection< rerun::components::Scale3D > &_scales) &&
	Scaling factors.
InstancePoses3D	with_mat3x3 (const Collection< rerun::components::TransformMat3x3 > &_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 ComponentDescriptors.
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 applied on the current entity's transform frame.

Unlike archetypes::Transform3D, it is not propagated in the transform hierarchy. If archetypes::CoordinateFrame is specified, it acts relative to that coordinate frame, otherwise it is relative to the entity's implicit coordinate frame.

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 mat3x3 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

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

Descriptor_translations

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

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "InstancePoses3D:translations",
            Loggable<rerun::components::Translation3D>::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::RotationAxisAngle>::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::RotationQuat>::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::Scale3D>::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::TransformMat3x3>::ComponentType
        )

ComponentDescriptor for the mat3x3 field.

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

• rerun/archetypes/instance_poses3d.hpp