rerun::archetypes::Points3D Struct Reference

Archetype: A 3D point cloud with positions and optional colors, radii, labels, etc. More...

#include <rerun/archetypes/points3d.hpp>

Public Member Functions
	Points3D (Points3D &&other)=default
	Points3D (const Points3D &other)=default
Points3D &	operator= (const Points3D &other)=default
Points3D &	operator= (Points3D &&other)=default
	Points3D (Collection< rerun::components::Position3D > _positions)
Points3D	with_positions (const Collection< rerun::components::Position3D > &_positions) &&
	All the 3D positions at which the point cloud shows points.
Points3D	with_radii (const Collection< rerun::components::Radius > &_radii) &&
	Optional radii for the points, effectively turning them into circles.
Points3D	with_colors (const Collection< rerun::components::Color > &_colors) &&
	Optional colors for the points.
Points3D	with_labels (const Collection< rerun::components::Text > &_labels) &&
	Optional text labels for the points.
Points3D	with_show_labels (const rerun::components::ShowLabels &_show_labels) &&
	Whether the text labels should be shown.
Points3D	with_many_show_labels (const Collection< rerun::components::ShowLabels > &_show_labels) &&
	This method makes it possible to pack multiple show_labels in a single component batch.
Points3D	with_class_ids (const Collection< rerun::components::ClassId > &_class_ids) &&
	Optional class Ids for the points.
Points3D	with_keypoint_ids (const Collection< rerun::components::KeypointId > &_keypoint_ids) &&
	Optional keypoint IDs for the points, identifying them within a class.
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 Points3D	update_fields ()
	Update only some specific fields of a Points3D.
static Points3D	clear_fields ()
	Clear all the fields of a Points3D.

Public Attributes
std::optional< ComponentBatch >	positions
	All the 3D positions at which the point cloud shows points.
std::optional< ComponentBatch >	radii
	Optional radii for the points, effectively turning them into circles.
std::optional< ComponentBatch >	colors
	Optional colors for the points.
std::optional< ComponentBatch >	labels
	Optional text labels for the points.
std::optional< ComponentBatch >	show_labels
	Whether the text labels should be shown.
std::optional< ComponentBatch >	class_ids
	Optional class Ids for the points.
std::optional< ComponentBatch >	keypoint_ids
	Optional keypoint IDs for the points, identifying them within a class.

Static Public Attributes
static constexpr const char	ArchetypeName [] = "rerun.archetypes.Points3D"
	The name of the archetype as used in ComponentDescriptors.
static constexpr auto	Descriptor_positions
	ComponentDescriptor for the positions field.
static constexpr auto	Descriptor_radii
	ComponentDescriptor for the radii field.
static constexpr auto	Descriptor_colors
	ComponentDescriptor for the colors field.
static constexpr auto	Descriptor_labels
	ComponentDescriptor for the labels field.
static constexpr auto	Descriptor_show_labels
	ComponentDescriptor for the show_labels field.
static constexpr auto	Descriptor_class_ids
	ComponentDescriptor for the class_ids field.
static constexpr auto	Descriptor_keypoint_ids
	ComponentDescriptor for the keypoint_ids field.

Detailed Description

Archetype: A 3D point cloud with positions and optional colors, radii, labels, etc.

If there are multiple instance poses, the entire point cloud will be repeated for each of the poses.

Examples

Simple 3D points

#include <rerun.hpp>
 
int main() {
    const auto rec = rerun::RecordingStream("rerun_example_points3d");
    rec.spawn().exit_on_failure();
 
    rec.log("points", rerun::Points3D({{0.0f, 0.0f, 0.0f}, {1.0f, 1.0f, 1.0f}}));
}

Update a point cloud over time

#include <rerun.hpp>
 
#include <algorithm>
#include <vector>
 
int main() {
    const auto rec = rerun::RecordingStream("rerun_example_points3d_row_updates");
    rec.spawn().exit_on_failure();
 
    // Prepare a point cloud that evolves over 5 timesteps, changing the number of points in the process.
    std::vector<std::array<float, 3>> positions[] = {
        // clang-format off
        {{1.0, 0.0, 1.0}, {0.5, 0.5, 2.0}},
        {{1.5, -0.5, 1.5}, {1.0, 1.0, 2.5}, {-0.5, 1.5, 1.0}, {-1.5, 0.0, 2.0}},
        {{2.0, 0.0, 2.0}, {1.5, -1.5, 3.0}, {0.0, -2.0, 2.5}, {1.0, -1.0, 3.5}},
        {{-2.0, 0.0, 2.0}, {-1.5, 1.5, 3.0}, {-1.0, 1.0, 3.5}},
        {{1.0, -1.0, 1.0}, {2.0, -2.0, 2.0}, {3.0, -1.0, 3.0}, {2.0, 0.0, 4.0}},
        // clang-format on
    };
 
    // At each timestep, all points in the cloud share the same but changing color and radius.
    std::vector<uint32_t> colors = {0xFF0000FF, 0x00FF00FF, 0x0000FFFF, 0xFFFF00FF, 0x00FFFFFF};
    std::vector<float> radii = {0.05f, 0.01f, 0.2f, 0.1f, 0.3f};
 
    for (size_t i = 0; i <5; i++) {
        rec.set_time_duration_secs("time", 10.0 + static_cast<double>(i));
        rec.log(
            "points",
            rerun::Points3D(positions[i]).with_colors(colors[i]).with_radii(radii[i])
        );
    }
}

Update a point cloud over time, in a single operation

#include <array>
#include <rerun.hpp>
#include <vector>
 
using namespace std::chrono_literals;
 
int main() {
    const auto rec = rerun::RecordingStream("rerun_example_points3d_column_updates");
    rec.spawn().exit_on_failure();
 
    // Prepare a point cloud that evolves over 5 timesteps, changing the number of points in the process.
    std::vector<std::array<float, 3>> positions = {
        // clang-format off
        {1.0, 0.0, 1.0}, {0.5, 0.5, 2.0},
        {1.5, -0.5, 1.5}, {1.0, 1.0, 2.5}, {-0.5, 1.5, 1.0}, {-1.5, 0.0, 2.0},
        {2.0, 0.0, 2.0}, {1.5, -1.5, 3.0}, {0.0, -2.0, 2.5}, {1.0, -1.0, 3.5},
        {-2.0, 0.0, 2.0}, {-1.5, 1.5, 3.0}, {-1.0, 1.0, 3.5},
        {1.0, -1.0, 1.0}, {2.0, -2.0, 2.0}, {3.0, -1.0, 3.0}, {2.0, 0.0, 4.0},
        // clang-format on
    };
 
    // At each timestep, all points in the cloud share the same but changing color and radius.
    std::vector<uint32_t> colors = {0xFF0000FF, 0x00FF00FF, 0x0000FFFF, 0xFFFF00FF, 0x00FFFFFF};
    std::vector<float> radii = {0.05f, 0.01f, 0.2f, 0.1f, 0.3f};
 
    // Log at seconds 10-14
    auto times = rerun::Collection{10s, 11s, 12s, 13s, 14s};
    auto time_column = rerun::TimeColumn::from_durations("time", std::move(times));
 
    // Partition our data as expected across the 5 timesteps.
    auto position = rerun::Points3D().with_positions(positions).columns({2, 4, 4, 3, 4});
    auto color_and_radius = rerun::Points3D().with_colors(colors).with_radii(radii).columns();
 
    rec.send_columns("points", time_column, position, color_and_radius);
}

Update specific properties of a point cloud over time

#include <rerun.hpp>
 
#include <algorithm>
#include <vector>
 
int main() {
    const auto rec = rerun::RecordingStream("rerun_example_points3d_partial_updates");
    rec.spawn().exit_on_failure();
 
    std::vector<rerun::Position3D> positions;
    for (int i = 0; i <10; ++i) {
        positions.emplace_back(static_cast<float>(i), 0.0f, 0.0f);
    }
 
    rec.set_time_sequence("frame", 0);
    rec.log("points", rerun::Points3D(positions));
 
    for (int i = 0; i <10; ++i) {
        std::vector<rerun::Color> colors;
        for (int n = 0; n <10; ++n) {
            if (n <i) {
                colors.emplace_back(rerun::Color(20, 200, 20));
            } else {
                colors.emplace_back(rerun::Color(200, 20, 20));
            }
        }
 
        std::vector<rerun::Radius> radii;
        for (int n = 0; n <10; ++n) {
            if (n <i) {
                radii.emplace_back(rerun::Radius(0.6f));
            } else {
                radii.emplace_back(rerun::Radius(0.2f));
            }
        }
 
        // Update only the colors and radii, leaving everything else as-is.
        rec.set_time_sequence("frame", i);
        rec.log("points", rerun::Points3D::update_fields().with_radii(radii).with_colors(colors));
    }
 
    std::vector<rerun::Radius> radii;
    radii.emplace_back(0.3f);
 
    // Update the positions and radii, and clear everything else in the process.
    rec.set_time_sequence("frame", 20);
    rec.log("points", rerun::Points3D::clear_fields().with_positions(positions).with_radii(radii));
}

Member Function Documentation

with_labels()

Points3D rerun::archetypes::Points3D::with_labels ( const Collection< rerun::components::Text > &  _labels ) &&

inline

Optional text labels for the points.

If there's a single label present, it will be placed at the center of the entity. Otherwise, each instance will have its own label.

with_show_labels()

Points3D rerun::archetypes::Points3D::with_show_labels ( const rerun::components::ShowLabels &  _show_labels ) &&

inline

Whether the text labels should be shown.

If not set, labels will automatically appear when there is exactly one label for this entity or the number of instances on this entity is under a certain threshold.

with_many_show_labels()

Points3D rerun::archetypes::Points3D::with_many_show_labels ( const Collection< rerun::components::ShowLabels > &  _show_labels ) &&

inline

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

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

with_class_ids()

Points3D rerun::archetypes::Points3D::with_class_ids ( const Collection< rerun::components::ClassId > &  _class_ids ) &&

inline

Optional class Ids for the points.

The components::ClassId provides colors and labels if not specified explicitly.

with_keypoint_ids()

Points3D rerun::archetypes::Points3D::with_keypoint_ids ( const Collection< rerun::components::KeypointId > &  _keypoint_ids ) &&

inline

Optional keypoint IDs for the points, identifying them within a class.

If keypoint IDs are passed in but no components::ClassIds were specified, the components::ClassId will default to 0. This is useful to identify points within a single classification (which is identified with class_id). E.g. the classification might be 'Person' and the keypoints refer to joints on a detected skeleton.

columns() [1/2]

Collection< ComponentColumn > rerun::archetypes::Points3D::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::Points3D::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

labels

std::optional<ComponentBatch> rerun::archetypes::Points3D::labels

Optional text labels for the points.

If there's a single label present, it will be placed at the center of the entity. Otherwise, each instance will have its own label.

show_labels

std::optional<ComponentBatch> rerun::archetypes::Points3D::show_labels

Whether the text labels should be shown.

If not set, labels will automatically appear when there is exactly one label for this entity or the number of instances on this entity is under a certain threshold.

class_ids

std::optional<ComponentBatch> rerun::archetypes::Points3D::class_ids

Optional class Ids for the points.

The components::ClassId provides colors and labels if not specified explicitly.

keypoint_ids

std::optional<ComponentBatch> rerun::archetypes::Points3D::keypoint_ids

Optional keypoint IDs for the points, identifying them within a class.

If keypoint IDs are passed in but no components::ClassIds were specified, the components::ClassId will default to 0. This is useful to identify points within a single classification (which is identified with class_id). E.g. the classification might be 'Person' and the keypoints refer to joints on a detected skeleton.

Descriptor_positions

constexpr auto rerun::archetypes::Points3D::Descriptor_positions

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "Points3D:positions",
            Loggable<rerun::components::Position3D>::ComponentType
        )

ComponentDescriptor for the positions field.

Descriptor_radii

constexpr auto rerun::archetypes::Points3D::Descriptor_radii

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "Points3D:radii", Loggable<rerun::components::Radius>::ComponentType
        )

ComponentDescriptor for the radii field.

Descriptor_colors

constexpr auto rerun::archetypes::Points3D::Descriptor_colors

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "Points3D:colors", Loggable<rerun::components::Color>::ComponentType
        )

ComponentDescriptor for the colors field.

Descriptor_labels

constexpr auto rerun::archetypes::Points3D::Descriptor_labels

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "Points3D:labels", Loggable<rerun::components::Text>::ComponentType
        )

ComponentDescriptor for the labels field.

Descriptor_show_labels

constexpr auto rerun::archetypes::Points3D::Descriptor_show_labels

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "Points3D:show_labels",
            Loggable<rerun::components::ShowLabels>::ComponentType
        )

ComponentDescriptor for the show_labels field.

Descriptor_class_ids

constexpr auto rerun::archetypes::Points3D::Descriptor_class_ids

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "Points3D:class_ids", Loggable<rerun::components::ClassId>::ComponentType
        )

ComponentDescriptor for the class_ids field.

Descriptor_keypoint_ids

constexpr auto rerun::archetypes::Points3D::Descriptor_keypoint_ids

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "Points3D:keypoint_ids",
            Loggable<rerun::components::KeypointId>::ComponentType
        )

ComponentDescriptor for the keypoint_ids field.

---

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

• rerun/archetypes/points3d.hpp