rerun::archetypes::Transform3D Struct Reference

Archetype: A transform between two 3D spaces, i.e. More...

#include <rerun/archetypes/transform3d.hpp>

Public Member Functions
	Transform3D (const components::Translation3D &translation_, const datatypes::Vec3D(&columns)[3], bool from_parent=false)
	Creates a new 3D transform from translation and matrix provided as 3 columns.
	Transform3D (const components::Translation3D &translation_, const components::TransformMat3x3 &mat3x3_, bool from_parent=false)
	Creates a new 3D transform from translation/matrix.
	Transform3D (const components::Translation3D &translation_, bool from_parent=false)
	From translation only.
	Transform3D (const components::TransformMat3x3 &mat3x3_, bool from_parent=false)
	From 3x3 matrix only.
	Transform3D (const datatypes::Vec3D(&columns)[3], bool from_parent=false)
	From 3x3 matrix provided as 3 columns only.
	Transform3D (const components::Translation3D &translation_, const Rotation3D &rotation, const components::Scale3D &scale_, bool from_parent=false)
	Creates a new 3D transform from translation/rotation/scale.
	Transform3D (const components::Translation3D &translation_, const Rotation3D &rotation, float uniform_scale, bool from_parent=false)
	Creates a new 3D transform from translation/rotation/uniform-scale.
	Transform3D (const components::Translation3D &translation_, const Rotation3D &rotation, bool from_parent=false)
	Creates a new rigid transform (translation & rotation only).
	Transform3D (const components::Translation3D &translation_, const components::Scale3D &scale_, bool from_parent=false)
	From translation & scale only.
	Transform3D (const components::Translation3D &translation_, float uniform_scale, bool from_parent=false)
	From translation & uniform scale only.
	Transform3D (const Rotation3D &rotation, const components::Scale3D &scale_, bool from_parent=false)
	From rotation & scale.
	Transform3D (const Rotation3D &rotation, float uniform_scale, bool from_parent=false)
	From rotation & uniform scale.
	Transform3D (const Rotation3D &rotation, bool from_parent=false)
	From rotation only.
	Transform3D (const components::Scale3D &scale_, bool from_parent=false)
	From scale only.
Transform3D	with_rotation (const Rotation3D &rotation) &&
	Set the rotation component of the transform using the rerun::Rotation3D utility.
	Transform3D (Transform3D &&other)=default
	Transform3D (const Transform3D &other)=default
Transform3D &	operator= (const Transform3D &other)=default
Transform3D &	operator= (Transform3D &&other)=default
Transform3D	with_translation (const rerun::components::Translation3D &_translation) &&
	Translation vector.
Transform3D	with_many_translation (const Collection< rerun::components::Translation3D > &_translation) &&
	This method makes it possible to pack multiple translation in a single component batch.
Transform3D	with_rotation_axis_angle (const rerun::components::RotationAxisAngle &_rotation_axis_angle) &&
	Rotation via axis + angle.
Transform3D	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.
Transform3D	with_quaternion (const rerun::components::RotationQuat &_quaternion) &&
	Rotation via quaternion.
Transform3D	with_many_quaternion (const Collection< rerun::components::RotationQuat > &_quaternion) &&
	This method makes it possible to pack multiple quaternion in a single component batch.
Transform3D	with_scale (const rerun::components::Scale3D &_scale) &&
	Scaling factor.
Transform3D	with_many_scale (const Collection< rerun::components::Scale3D > &_scale) &&
	This method makes it possible to pack multiple scale in a single component batch.
Transform3D	with_mat3x3 (const rerun::components::TransformMat3x3 &_mat3x3) &&
	3x3 transformation matrix.
Transform3D	with_many_mat3x3 (const Collection< rerun::components::TransformMat3x3 > &_mat3x3) &&
	This method makes it possible to pack multiple mat3x3 in a single component batch.
Transform3D	with_relation (const rerun::components::TransformRelation &_relation) &&
	Specifies the relation this transform establishes between this entity and its parent.
Transform3D	with_many_relation (const Collection< rerun::components::TransformRelation > &_relation) &&
	This method makes it possible to pack multiple relation in a single component batch.
Transform3D	with_child_frame (const rerun::components::TransformFrameId &_child_frame) &&
	The child frame this transform transforms from.
Transform3D	with_many_child_frame (const Collection< rerun::components::TransformFrameId > &_child_frame) &&
	This method makes it possible to pack multiple child_frame in a single component batch.
Transform3D	with_parent_frame (const rerun::components::TransformFrameId &_parent_frame) &&
	The parent frame this transform transforms into.
Transform3D	with_many_parent_frame (const Collection< rerun::components::TransformFrameId > &_parent_frame) &&
	This method makes it possible to pack multiple parent_frame in a single component batch.
Transform3D	with_axis_length (const rerun::components::AxisLength &_axis_length) &&
	Visual length of the 3 axes.
Transform3D	with_many_axis_length (const Collection< rerun::components::AxisLength > &_axis_length) &&
	This method makes it possible to pack multiple axis_length 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 Transform3D	from_translation_mat3x3 (const components::Translation3D &translation, const components::TransformMat3x3 &mat3x3)
	From a translation applied after a 3x3 matrix.
static Transform3D	from_translation_mat3x3 (const components::Translation3D &translation, const datatypes::Vec3D(&columns)[3])
	From a translation applied after a 3x3 matrix provided as 3 columns.
static Transform3D	from_translation (const components::Translation3D &translation)
	From a translation.
static Transform3D	from_mat3x3 (const components::TransformMat3x3 &mat3x3)
	From 3x3 matrix only.
static Transform3D	from_mat3x3 (const datatypes::Vec3D(&columns)[3])
	From 3x3 matrix provided as 3 columns only.
static Transform3D	from_translation_rotation_scale (const components::Translation3D &translation, const Rotation3D &rotation, const components::Scale3D &scale)
	From a translation, applied after a rotation & scale, known as an affine transformation.
static Transform3D	from_translation_rotation_scale (const components::Translation3D &translation, const Rotation3D &rotation, float uniform_scale)
	From a translation, applied after a rotation & scale, known as an affine transformation.
static Transform3D	from_translation_rotation (const components::Translation3D &translation, const Rotation3D &rotation)
	From a rotation & scale.
static Transform3D	from_translation_scale (const components::Translation3D &translation, const components::Scale3D &scale)
	From a translation applied after a scale.
static Transform3D	from_rotation_scale (const Rotation3D &rotation, const components::Scale3D &scale)
	From a rotation & scale.
static Transform3D	from_rotation_scale (const Rotation3D &rotation, float uniform_scale)
	From a rotation & uniform scale.
static Transform3D	from_rotation (const Rotation3D &rotation)
	From rotation only.
static Transform3D	from_scale (const components::Scale3D &scale)
	From scale only.
static Transform3D	from_scale (float uniform_scale)
	From scale only.
static Transform3D	update_fields ()
	Update only some specific fields of a Transform3D.
static Transform3D	clear_fields ()
	Clear all the fields of a Transform3D.

Public Attributes
std::optional< ComponentBatch >	translation
	Translation vector.
std::optional< ComponentBatch >	rotation_axis_angle
	Rotation via axis + angle.
std::optional< ComponentBatch >	quaternion
	Rotation via quaternion.
std::optional< ComponentBatch >	scale
	Scaling factor.
std::optional< ComponentBatch >	mat3x3
	3x3 transformation matrix.
std::optional< ComponentBatch >	relation
	Specifies the relation this transform establishes between this entity and its parent.
std::optional< ComponentBatch >	child_frame
	The child frame this transform transforms from.
std::optional< ComponentBatch >	parent_frame
	The parent frame this transform transforms into.
std::optional< ComponentBatch >	axis_length
	Visual length of the 3 axes.

Static Public Attributes
static constexpr const char	ArchetypeName [] = "rerun.archetypes.Transform3D"
	The name of the archetype as used in ComponentDescriptors.
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_scale
	ComponentDescriptor for the scale field.
static constexpr auto	Descriptor_mat3x3
	ComponentDescriptor for the mat3x3 field.
static constexpr auto	Descriptor_relation
	ComponentDescriptor for the relation field.
static constexpr auto	Descriptor_child_frame
	ComponentDescriptor for the child_frame field.
static constexpr auto	Descriptor_parent_frame
	ComponentDescriptor for the parent_frame field.
static constexpr auto	Descriptor_axis_length
	ComponentDescriptor for the axis_length field.
static RERUN_SDK_EXPORT const Transform3D	IDENTITY
	Identity transformation.
static RERUN_SDK_EXPORT const Transform3D	INVALID
	Invalid transformation.

Detailed Description

Archetype: A transform between two 3D spaces, i.e.

a pose.

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.

Whenever you log this archetype, the state of the resulting transform relationship is fully reset to the new archetype. This means that if you first log a transform with only a translation, and then log one with only a rotation, it will be resolved to a transform 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)

For transforms that affect only a single entity and do not propagate along the entity tree refer to archetypes::InstancePoses3D.

Examples

Variety of 3D transforms

#include <rerun.hpp>
 
constexpr float TAU = 6.28318530717958647692528676655900577f;
 
int main() {
    const auto rec = rerun::RecordingStream("rerun_example_transform3d");
    rec.spawn().exit_on_failure();
 
    auto arrow =
        rerun::Arrows3D::from_vectors({{0.0f, 1.0f, 0.0f}}).with_origins({{0.0f, 0.0f, 0.0f}});
 
    rec.log("base", arrow);
 
    rec.log("base/translated", rerun::Transform3D::from_translation({1.0f, 0.0f, 0.0f}));
    rec.log("base/translated", arrow);
 
    rec.log(
        "base/rotated_scaled",
        rerun::Transform3D::from_rotation_scale(
            rerun::RotationAxisAngle({0.0f, 0.0f, 1.0f}, rerun::Angle::radians(TAU / 8.0f)),
            2.0f
        )
    );
    rec.log("base/rotated_scaled", arrow);
}

Transform hierarchy

#include <rerun.hpp>
 
constexpr float TAU = 6.28318530717958647692528676655900577f;
 
int main() {
    const auto rec = rerun::RecordingStream("rerun_example_transform3d_hierarchy");
    rec.spawn().exit_on_failure();
 
    // TODO(#5521): log two views as in the python example
 
    rec.set_time_duration_secs("sim_time", 0.0);
 
    // Planetary motion is typically in the XY plane.
    rec.log_static("/", rerun::ViewCoordinates::RIGHT_HAND_Z_UP);
 
    // Setup points, all are in the center of their own space:
    rec.log(
        "sun",
        rerun::Points3D({{0.0f, 0.0f, 0.0f}})
            .with_radii({1.0f})
            .with_colors({rerun::Color(255, 200, 10)})
    );
    rec.log(
        "sun/planet",
        rerun::Points3D({{0.0f, 0.0f, 0.0f}})
            .with_radii({0.4f})
            .with_colors({rerun::Color(40, 80, 200)})
    );
    rec.log(
        "sun/planet/moon",
        rerun::Points3D({{0.0f, 0.0f, 0.0f}})
            .with_radii({0.15f})
            .with_colors({rerun::Color(180, 180, 180)})
    );
 
    // Draw fixed paths where the planet & moon move.
    float d_planet = 6.0f;
    float d_moon = 3.0f;
    std::vector<std::array<float, 3>> planet_path, moon_path;
    for (int i = 0; i <= 100; i++) {
        float angle = static_cast<float>(i) * 0.01f * TAU;
        float circle_x = std::sin(angle);
        float circle_y = std::cos(angle);
        planet_path.push_back({circle_x * d_planet, circle_y * d_planet, 0.0f});
        moon_path.push_back({circle_x * d_moon, circle_y * d_moon, 0.0f});
    }
    rec.log("sun/planet_path", rerun::LineStrips3D(rerun::LineStrip3D(planet_path)));
    rec.log("sun/planet/moon_path", rerun::LineStrips3D(rerun::LineStrip3D(moon_path)));
 
    // Movement via transforms.
    for (int i = 0; i <6 * 120; i++) {
        float time = static_cast<float>(i) / 120.0f;
        rec.set_time_duration_secs("sim_time", time);
        float r_moon = time * 5.0f;
        float r_planet = time * 2.0f;
 
        rec.log(
            "sun/planet",
            rerun::Transform3D::from_translation_rotation(
                {std::sin(r_planet) * d_planet, std::cos(r_planet) * d_planet, 0.0f},
                rerun::RotationAxisAngle{
                    {1.0, 0.0f, 0.0f},
                    rerun::Angle::degrees(20.0f),
                }
            )
        );
        rec.log(
            "sun/planet/moon",
            rerun::Transform3D::from_translation(
                {std::cos(r_moon) * d_moon, std::sin(r_moon) * d_moon, 0.0f}
            )
                .with_relation(rerun::components::TransformRelation::ChildFromParent)
        );
    }
}

Update a transform over time

#include <rerun.hpp>
 
float truncated_radians(int deg) {
    auto degf = static_cast<float>(deg);
    const auto pi = 3.14159265358979323846f;
    return static_cast<float>(static_cast<int>(degf * pi / 180.0f * 1000.0f)) / 1000.0f;
}
 
int main() {
    const auto rec = rerun::RecordingStream("rerun_example_transform3d_row_updates");
    rec.spawn().exit_on_failure();
 
    rec.set_time_sequence("tick", 0);
    rec.log(
        "box",
        rerun::Boxes3D::from_half_sizes({{4.f, 2.f, 1.0f}}).with_fill_mode(rerun::FillMode::Solid),
        rerun::Transform3D().with_axis_length(10.0)
    );
 
    for (int t = 0; t <100; t++) {
        rec.set_time_sequence("tick", t + 1);
        rec.log(
            "box",
            rerun::Transform3D()
                .with_translation({0.0f, 0.0f, static_cast<float>(t) / 10.0f})
                .with_rotation_axis_angle(rerun::RotationAxisAngle(
                    {0.0f, 1.0f, 0.0f},
                    rerun::Angle::radians(truncated_radians(t * 4))
                ))
        );
    }
}

Update a transform over time, in a single operation

#include <cmath>
#include <numeric>
#include <vector>
 
#include <rerun.hpp>
 
float truncated_radians(int deg) {
    auto degf = static_cast<float>(deg);
    const auto pi = 3.14159265358979323846f;
    return static_cast<float>(static_cast<int>(degf * pi / 180.0f * 1000.0f)) / 1000.0f;
}
 
int main() {
    const auto rec = rerun::RecordingStream("rerun_example_transform3d_column_updates");
    rec.spawn().exit_on_failure();
 
    rec.set_time_sequence("tick", 0);
    rec.log(
        "box",
        rerun::Boxes3D::from_half_sizes({{4.f, 2.f, 1.0f}}).with_fill_mode(rerun::FillMode::Solid),
        rerun::Transform3D().with_axis_length(10.0)
    );
 
    std::vector<std::array<float, 3>> translations;
    std::vector<rerun::RotationAxisAngle> rotations;
    for (int t = 0; t <100; t++) {
        translations.push_back({0.0f, 0.0f, static_cast<float>(t) / 10.0f});
        rotations.push_back(rerun::RotationAxisAngle(
            {0.0f, 1.0f, 0.0f},
            rerun::Angle::radians(truncated_radians(t * 4))
        ));
    }
 
    std::vector<int64_t> ticks(100);
    std::iota(ticks.begin(), ticks.end(), 1);
 
    rec.send_columns(
        "box",
        rerun::TimeColumn::from_sequence("tick", ticks),
        rerun::Transform3D()
            .with_many_translation(translations)
            .with_many_rotation_axis_angle(rotations)
            .columns()
    );
}

Update specific properties of a transform over time

#include <rerun.hpp>
 
float truncated_radians(int deg) {
    auto degf = static_cast<float>(deg);
    const auto pi = 3.14159265358979323846f;
    return static_cast<float>(static_cast<int>(degf * pi / 180.0f * 1000.0f)) / 1000.0f;
}
 
int main() {
    const auto rec = rerun::RecordingStream("rerun_example_transform3d_partial_updates");
    rec.spawn().exit_on_failure();
 
    // Set up a 3D box.
    rec.log(
        "box",
        rerun::Boxes3D::from_half_sizes({{4.f, 2.f, 1.0f}}).with_fill_mode(rerun::FillMode::Solid),
        rerun::Transform3D().with_axis_length(10.0)
    );
 
    // Update only the rotation of the box.
    for (int deg = 0; deg <= 45; deg++) {
        auto rad = truncated_radians(deg * 4);
        rec.log(
            "box",
            rerun::Transform3D::from_rotation(
                rerun::RotationAxisAngle({0.0f, 1.0f, 0.0f}, rerun::Angle::radians(rad))
            )
        );
    }
 
    // Update only the position of the box.
    for (int t = 0; t <= 50; t++) {
        rec.log(
            "box",
            rerun::Transform3D::from_translation({0.0f, 0.0f, static_cast<float>(t) / 10.0f})
        );
    }
 
    // Update only the rotation of the box.
    for (int deg = 0; deg <= 45; deg++) {
        auto rad = truncated_radians((deg + 45) * 4);
        rec.log(
            "box",
            rerun::Transform3D::from_rotation(
                rerun::RotationAxisAngle({0.0f, 1.0f, 0.0f}, rerun::Angle::radians(rad))
            )
        );
    }
 
    // Clear all of the box's attributes, and reset its axis length.
    rec.log("box", rerun::Transform3D::clear_fields().with_axis_length(15.0));
}

Constructor & Destructor Documentation

Transform3D() [1/14]

rerun::archetypes::Transform3D::Transform3D ( const components::Translation3D &  translation_, const datatypes::Vec3D(&)  columns[3], bool  from_parent = false  )

inline

Creates a new 3D transform from translation and matrix provided as 3 columns.

Clears out all other components like Transform3D::clear_fields.

Parameters

translation_	\çopydoc Transform3D::translation
columns	Column vectors of 3x3 matrix.
from_parent	If true, the transform relation to TransformRelation::ChildFromParent.

Implementation note: This overload is necessary, otherwise the array may be interpreted as bool and call the wrong overload.

Transform3D() [2/14]

rerun::archetypes::Transform3D::Transform3D ( const components::Translation3D &  translation_, const components::TransformMat3x3 &  mat3x3_, bool  from_parent = false  )

inline

Creates a new 3D transform from translation/matrix.

Clears out all other components like Transform3D::clear_fields.

Parameters

translation_	\çopydoc Transform3D::translation
mat3x3_	3x3 transformation matrix.

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

Parameters

from_parent

If true, the transform relation to TransformRelation::ChildFromParent.

Transform3D() [3/14]

rerun::archetypes::Transform3D::Transform3D ( const components::Translation3D &  translation_, bool  from_parent = false  )

inline

From translation only.

Clears out all other components like Transform3D::clear_fields.

Parameters

translation_	\çopydoc Transform3D::translation
from_parent	If true, the transform relation to TransformRelation::ChildFromParent.

Transform3D() [4/14]

rerun::archetypes::Transform3D::Transform3D ( const components::TransformMat3x3 &  mat3x3_, bool  from_parent = false  )

inline

From 3x3 matrix only.

Clears out all other components like Transform3D::clear_fields.

Parameters

mat3x3_

3x3 transformation matrix.

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

Parameters

from_parent

If true, the transform relation to TransformRelation::ChildFromParent.

Transform3D() [5/14]

rerun::archetypes::Transform3D::Transform3D ( const datatypes::Vec3D(&)  columns[3], bool  from_parent = false  )

inline

From 3x3 matrix provided as 3 columns only.

Clears out all other components like Transform3D::clear_fields.

Parameters

columns	Column vectors of 3x3 matrix.
from_parent	If true, the transform relation to TransformRelation::ChildFromParent.

Transform3D() [6/14]

rerun::archetypes::Transform3D::Transform3D ( const components::Translation3D &  translation_, const Rotation3D &  rotation, const components::Scale3D &  scale_, bool  from_parent = false  )

inline

Creates a new 3D transform from translation/rotation/scale.

Clears out all other components like Transform3D::clear_fields.

Parameters

translation_

Translation vector.

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

Parameters

rotation	Rotation represented either as a quaternion or axis + angle rotation.
scale_	Scaling factor.

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

Parameters

from_parent

If true, the transform relation to TransformRelation::ChildFromParent.

Transform3D() [7/14]

rerun::archetypes::Transform3D::Transform3D ( const components::Translation3D &  translation_, const Rotation3D &  rotation, float  uniform_scale, bool  from_parent = false  )

inline

Creates a new 3D transform from translation/rotation/uniform-scale.

Clears out all other components like Transform3D::clear_fields.

Parameters

translation_

Translation vector.

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

Parameters

rotation	Rotation represented either as a quaternion or axis + angle rotation.
uniform_scale	Uniform scale factor that is applied to all axis equally.
from_parent	If true, the transform relation to TransformRelation::ChildFromParent.

Implementation note: This explicit overload prevents interpretation of the float as bool, leading to a call to the wrong overload.

Transform3D() [8/14]

rerun::archetypes::Transform3D::Transform3D ( const components::Translation3D &  translation_, const Rotation3D &  rotation, bool  from_parent = false  )

inline

Creates a new rigid transform (translation & rotation only).

Clears out all other components like Transform3D::clear_fields.

Parameters

translation_

Translation vector.

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

Parameters

rotation	Rotation represented either as a quaternion or axis + angle rotation.
from_parent	If true, the transform relation to TransformRelation::ChildFromParent.

Transform3D() [9/14]

rerun::archetypes::Transform3D::Transform3D ( const components::Translation3D &  translation_, const components::Scale3D &  scale_, bool  from_parent = false  )

inline

From translation & scale only.

Clears out all other components like Transform3D::clear_fields.

Parameters

translation_

Translation vector.

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

Parameters

scale_	Transform3D::scale
from_parent	If true, the transform relation to TransformRelation::ChildFromParent.

Transform3D() [10/14]

rerun::archetypes::Transform3D::Transform3D ( const components::Translation3D &  translation_, float  uniform_scale, bool  from_parent = false  )

inline

From translation & uniform scale only.

Clears out all other components like Transform3D::clear_fields.

Parameters

translation_

Translation vector.

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

Parameters

uniform_scale	Uniform scale factor that is applied to all axis equally.
from_parent	If true, the transform relation to TransformRelation::ChildFromParent.

Implementation note: This explicit overload prevents interpretation of the float as bool, leading to a call to the wrong overload.

Transform3D() [11/14]

rerun::archetypes::Transform3D::Transform3D ( const Rotation3D &  rotation, const components::Scale3D &  scale_, bool  from_parent = false  )

inline

From rotation & scale.

Clears out all other components like Transform3D::clear_fields.

Parameters

rotation	Rotation represented either as a quaternion or axis + angle rotation.
scale_	Transform3D::scale
from_parent	If true, the transform relation to TransformRelation::ChildFromParent.

Transform3D() [12/14]

rerun::archetypes::Transform3D::Transform3D ( const Rotation3D &  rotation, float  uniform_scale, bool  from_parent = false  )

inline

From rotation & uniform scale.

Clears out all other components like Transform3D::clear_fields.

Parameters

rotation	Rotation represented either as a quaternion or axis + angle rotation.
uniform_scale	Uniform scale factor that is applied to all axis equally.
from_parent	If true, the transform relation to TransformRelation::ChildFromParent.

Implementation note: This explicit overload prevents interpretation of the float as bool, leading to a call to the wrong overload.

Transform3D() [13/14]

rerun::archetypes::Transform3D::Transform3D ( const Rotation3D &  rotation, bool  from_parent = false  )

inline

From rotation only.

Clears out all other components like Transform3D::clear_fields.

Parameters

rotation	Rotation represented either as a quaternion or axis + angle rotation.
from_parent	If true, the transform relation to TransformRelation::ChildFromParent.

Transform3D() [14/14]

rerun::archetypes::Transform3D::Transform3D ( const components::Scale3D &  scale_, bool  from_parent = false  )

inline

From scale only.

Clears out all other components like Transform3D::clear_fields.

Parameters

scale_	If true, the transform relation to TransformRelation::ChildFromParent.
from_parent	Scaling factor.

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

Member Function Documentation

from_translation_mat3x3() [1/2]

static Transform3D rerun::archetypes::Transform3D::from_translation_mat3x3 ( const components::Translation3D &  translation, const components::TransformMat3x3 &  mat3x3  )

inlinestatic

From a translation applied after a 3x3 matrix.

Clears out all other components like Transform3D::clear_fields.

Parameters

translation	\çopydoc Transform3D::translation
mat3x3	3x3 transformation matrix.

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

from_translation_mat3x3() [2/2]

static Transform3D rerun::archetypes::Transform3D::from_translation_mat3x3 ( const components::Translation3D &  translation, const datatypes::Vec3D(&)  columns[3]  )

inlinestatic

From a translation applied after a 3x3 matrix provided as 3 columns.

Clears out all other components like Transform3D::clear_fields.

Parameters

translation	\çopydoc Transform3D::translation
columns	Column vectors of 3x3 matrix.

from_translation()

static Transform3D rerun::archetypes::Transform3D::from_translation ( const components::Translation3D &  translation )

inlinestatic

From a translation.

Clears out all other components like Transform3D::clear_fields.

Parameters

translation

\çopydoc Transform3D::translation

from_mat3x3() [1/2]

static Transform3D rerun::archetypes::Transform3D::from_mat3x3 ( const components::TransformMat3x3 &  mat3x3 )

inlinestatic

From 3x3 matrix only.

Clears out all other components like Transform3D::clear_fields.

Parameters

mat3x3

3x3 transformation matrix.

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

from_mat3x3() [2/2]

static Transform3D rerun::archetypes::Transform3D::from_mat3x3 ( const datatypes::Vec3D(&)  columns[3] )

inlinestatic

From 3x3 matrix provided as 3 columns only.

Clears out all other components like Transform3D::clear_fields.

Parameters

columns

Column vectors of 3x3 matrix.

from_translation_rotation_scale() [1/2]

static Transform3D rerun::archetypes::Transform3D::from_translation_rotation_scale ( const components::Translation3D &  translation, const Rotation3D &  rotation, const components::Scale3D &  scale  )

inlinestatic

From a translation, applied after a rotation & scale, known as an affine transformation.

Clears out all other components like Transform3D::clear_fields.

Parameters

translation

Translation vector.

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

Parameters

rotation	Rotation represented either as a quaternion or axis + angle rotation.
scale	Scaling factor.

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

from_translation_rotation_scale() [2/2]

static Transform3D rerun::archetypes::Transform3D::from_translation_rotation_scale ( const components::Translation3D &  translation, const Rotation3D &  rotation, float  uniform_scale  )

inlinestatic

From a translation, applied after a rotation & scale, known as an affine transformation.

Clears out all other components like Transform3D::clear_fields.

Parameters

translation

Translation vector.

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

Parameters

rotation	Rotation represented either as a quaternion or axis + angle rotation.
uniform_scale	Uniform scale factor that is applied to all axis equally.

from_translation_rotation()

static Transform3D rerun::archetypes::Transform3D::from_translation_rotation ( const components::Translation3D &  translation, const Rotation3D &  rotation  )

inlinestatic

From a rotation & scale.

Clears out all other components like Transform3D::clear_fields.

Parameters

translation

Translation vector.

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

Parameters

rotation

Rotation represented either as a quaternion or axis + angle rotation.

from_translation_scale()

static Transform3D rerun::archetypes::Transform3D::from_translation_scale ( const components::Translation3D &  translation, const components::Scale3D &  scale  )

inlinestatic

From a translation applied after a scale.

Clears out all other components like Transform3D::clear_fields.

Parameters

translation

Translation vector.

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

Parameters

scale

Transform3D::scale

from_rotation_scale() [1/2]

static Transform3D rerun::archetypes::Transform3D::from_rotation_scale ( const Rotation3D &  rotation, const components::Scale3D &  scale  )

inlinestatic

From a rotation & scale.

Clears out all other components like Transform3D::clear_fields.

Parameters

rotation	Rotation represented either as a quaternion or axis + angle rotation.
scale	Transform3D::scale

from_rotation_scale() [2/2]

static Transform3D rerun::archetypes::Transform3D::from_rotation_scale ( const Rotation3D &  rotation, float  uniform_scale  )

inlinestatic

From a rotation & uniform scale.

Clears out all other components like Transform3D::clear_fields.

Parameters

rotation	Rotation represented either as a quaternion or axis + angle rotation.
uniform_scale	Uniform scale factor that is applied to all axis equally.

from_rotation()

static Transform3D rerun::archetypes::Transform3D::from_rotation ( const Rotation3D &  rotation )

inlinestatic

From rotation only.

Clears out all other components like Transform3D::clear_fields.

Parameters

rotation

Rotation represented either as a quaternion or axis + angle rotation.

from_scale() [1/2]

static Transform3D rerun::archetypes::Transform3D::from_scale ( const components::Scale3D &  scale )

inlinestatic

From scale only.

Clears out all other components like Transform3D::clear_fields.

Parameters

scale

Transform3D::scale

from_scale() [2/2]

static Transform3D rerun::archetypes::Transform3D::from_scale ( float  uniform_scale )

inlinestatic

From scale only.

Clears out all other components like Transform3D::clear_fields.

Parameters

uniform_scale

Uniform scale factor that is applied to all axis equally.

with_translation()

Transform3D rerun::archetypes::Transform3D::with_translation ( const rerun::components::Translation3D &  _translation ) &&

inline

Translation vector.

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_many_translation()

Transform3D rerun::archetypes::Transform3D::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()

Transform3D rerun::archetypes::Transform3D::with_rotation_axis_angle ( const rerun::components::RotationAxisAngle &  _rotation_axis_angle ) &&

inline

Rotation 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_many_rotation_axis_angle()

Transform3D rerun::archetypes::Transform3D::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()

Transform3D rerun::archetypes::Transform3D::with_quaternion ( const rerun::components::RotationQuat &  _quaternion ) &&

inline

Rotation 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_many_quaternion()

Transform3D rerun::archetypes::Transform3D::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_scale()

Transform3D rerun::archetypes::Transform3D::with_scale ( const rerun::components::Scale3D &  _scale ) &&

inline

Scaling factor.

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_many_scale()

Transform3D rerun::archetypes::Transform3D::with_many_scale ( const Collection< rerun::components::Scale3D > &  _scale ) &&

inline

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

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

with_mat3x3()

Transform3D rerun::archetypes::Transform3D::with_mat3x3 ( const rerun::components::TransformMat3x3 &  _mat3x3 ) &&

inline

3x3 transformation matrix.

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_many_mat3x3()

Transform3D rerun::archetypes::Transform3D::with_many_mat3x3 ( const Collection< rerun::components::TransformMat3x3 > &  _mat3x3 ) &&

inline

This method makes it possible to pack multiple mat3x3 in a single component batch.

This only makes sense when used in conjunction with columns. with_mat3x3 should be used when logging a single row's worth of data.

with_relation()

Transform3D rerun::archetypes::Transform3D::with_relation ( const rerun::components::TransformRelation &  _relation ) &&

inline

Specifies the relation this transform establishes between this entity and its parent.

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_many_relation()

Transform3D rerun::archetypes::Transform3D::with_many_relation ( const Collection< rerun::components::TransformRelation > &  _relation ) &&

inline

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

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

with_child_frame()

Transform3D rerun::archetypes::Transform3D::with_child_frame ( const rerun::components::TransformFrameId &  _child_frame ) &&

inline

The child frame this transform transforms from.

The entity at which the transform relationship of any given child frame is specified mustn't change over time. E.g. if you specified the child frame "robot_arm" on an entity named "my_transforms", you may not log transforms with the child frame "robot_arm" on any other entity than "my_transforms".

⚠ This currently also affects the child frame of archetypes::Pinhole. ⚠ This currently is also used as the frame id of archetypes::InstancePoses3D.

If not specified, this is set to the implicit transform frame of the current entity path. This means that if a archetypes::Transform3D is set on an entity called /my/entity/path then this will default to tf#/my/entity/path.

To set the frame an entity is part of see archetypes::CoordinateFrame.

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_many_child_frame()

Transform3D rerun::archetypes::Transform3D::with_many_child_frame ( const Collection< rerun::components::TransformFrameId > &  _child_frame ) &&

inline

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

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

with_parent_frame()

Transform3D rerun::archetypes::Transform3D::with_parent_frame ( const rerun::components::TransformFrameId &  _parent_frame ) &&

inline

The parent frame this transform transforms into.

⚠ This currently also affects the parent frame of archetypes::Pinhole.

If not specified, this is set to the implicit transform frame of the current entity path's parent. This means that if a archetypes::Transform3D is set on an entity called /my/entity/path then this will default to tf#/my/entity.

To set the frame an entity is part of see archetypes::CoordinateFrame.

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_many_parent_frame()

Transform3D rerun::archetypes::Transform3D::with_many_parent_frame ( const Collection< rerun::components::TransformFrameId > &  _parent_frame ) &&

inline

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

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

with_axis_length()

Transform3D rerun::archetypes::Transform3D::with_axis_length ( const rerun::components::AxisLength &  _axis_length ) &&

inline

Visual length of the 3 axes.

The length is interpreted in the local coordinate system of the transform. If the transform is scaled, the axes will be scaled accordingly.

with_many_axis_length()

Transform3D rerun::archetypes::Transform3D::with_many_axis_length ( const Collection< rerun::components::AxisLength > &  _axis_length ) &&

inline

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

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

columns() [1/2]

Collection< ComponentColumn > rerun::archetypes::Transform3D::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::Transform3D::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::Transform3D::translation

Translation vector.

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_angle

std::optional<ComponentBatch> rerun::archetypes::Transform3D::rotation_axis_angle

Rotation 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.

quaternion

std::optional<ComponentBatch> rerun::archetypes::Transform3D::quaternion

Rotation 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.

scale

std::optional<ComponentBatch> rerun::archetypes::Transform3D::scale

Scaling factor.

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::Transform3D::mat3x3

3x3 transformation matrix.

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

relation

std::optional<ComponentBatch> rerun::archetypes::Transform3D::relation

Specifies the relation this transform establishes between this entity and its parent.

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

child_frame

std::optional<ComponentBatch> rerun::archetypes::Transform3D::child_frame

The child frame this transform transforms from.

The entity at which the transform relationship of any given child frame is specified mustn't change over time. E.g. if you specified the child frame "robot_arm" on an entity named "my_transforms", you may not log transforms with the child frame "robot_arm" on any other entity than "my_transforms".

⚠ This currently also affects the child frame of archetypes::Pinhole. ⚠ This currently is also used as the frame id of archetypes::InstancePoses3D.

If not specified, this is set to the implicit transform frame of the current entity path. This means that if a archetypes::Transform3D is set on an entity called /my/entity/path then this will default to tf#/my/entity/path.

To set the frame an entity is part of see archetypes::CoordinateFrame.

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

parent_frame

std::optional<ComponentBatch> rerun::archetypes::Transform3D::parent_frame

The parent frame this transform transforms into.

⚠ This currently also affects the parent frame of archetypes::Pinhole.

If not specified, this is set to the implicit transform frame of the current entity path's parent. This means that if a archetypes::Transform3D is set on an entity called /my/entity/path then this will default to tf#/my/entity.

To set the frame an entity is part of see archetypes::CoordinateFrame.

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

axis_length

std::optional<ComponentBatch> rerun::archetypes::Transform3D::axis_length

Visual length of the 3 axes.

The length is interpreted in the local coordinate system of the transform. If the transform is scaled, the axes will be scaled accordingly.

Descriptor_translation

constexpr auto rerun::archetypes::Transform3D::Descriptor_translation

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "Transform3D:translation",
            Loggable<rerun::components::Translation3D>::ComponentType
        )

ComponentDescriptor for the translation field.

Descriptor_rotation_axis_angle

constexpr auto rerun::archetypes::Transform3D::Descriptor_rotation_axis_angle

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "Transform3D:rotation_axis_angle",
            Loggable<rerun::components::RotationAxisAngle>::ComponentType
        )

ComponentDescriptor for the rotation_axis_angle field.

Descriptor_quaternion

constexpr auto rerun::archetypes::Transform3D::Descriptor_quaternion

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "Transform3D:quaternion",
            Loggable<rerun::components::RotationQuat>::ComponentType
        )

ComponentDescriptor for the quaternion field.

Descriptor_scale

constexpr auto rerun::archetypes::Transform3D::Descriptor_scale

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "Transform3D:scale", Loggable<rerun::components::Scale3D>::ComponentType
        )

ComponentDescriptor for the scale field.

Descriptor_mat3x3

constexpr auto rerun::archetypes::Transform3D::Descriptor_mat3x3

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "Transform3D:mat3x3",
            Loggable<rerun::components::TransformMat3x3>::ComponentType
        )

ComponentDescriptor for the mat3x3 field.

Descriptor_relation

constexpr auto rerun::archetypes::Transform3D::Descriptor_relation

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "Transform3D:relation",
            Loggable<rerun::components::TransformRelation>::ComponentType
        )

ComponentDescriptor for the relation field.

Descriptor_child_frame

constexpr auto rerun::archetypes::Transform3D::Descriptor_child_frame

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "Transform3D:child_frame",
            Loggable<rerun::components::TransformFrameId>::ComponentType
        )

ComponentDescriptor for the child_frame field.

Descriptor_parent_frame

constexpr auto rerun::archetypes::Transform3D::Descriptor_parent_frame

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "Transform3D:parent_frame",
            Loggable<rerun::components::TransformFrameId>::ComponentType
        )

ComponentDescriptor for the parent_frame field.

Descriptor_axis_length

constexpr auto rerun::archetypes::Transform3D::Descriptor_axis_length

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "Transform3D:axis_length",
            Loggable<rerun::components::AxisLength>::ComponentType
        )

ComponentDescriptor for the axis_length field.

IDENTITY

RERUN_SDK_EXPORT const Transform3D rerun::archetypes::Transform3D::IDENTITY

static

Identity transformation.

Applying this transform does not alter an entity's transformation.

INVALID

RERUN_SDK_EXPORT const Transform3D rerun::archetypes::Transform3D::INVALID

static

Invalid transformation.

Applying this transform will cause this entity and the entire subtree not to be visualized.

---

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

• rerun/archetypes/transform3d.hpp