Struct rerun::Boxes3D

pub struct Boxes3D {
    pub half_sizes: Vec<HalfSize3D>,
    pub centers: Option<Vec<PoseTranslation3D>>,
    pub rotation_axis_angles: Option<Vec<PoseRotationAxisAngle>>,
    pub quaternions: Option<Vec<PoseRotationQuat>>,
    pub colors: Option<Vec<Color>>,
    pub radii: Option<Vec<Radius>>,
    pub fill_mode: Option<FillMode>,
    pub labels: Option<Vec<Text>>,
    pub show_labels: Option<ShowLabels>,
    pub class_ids: Option<Vec<ClassId>>,
}

Archetype: 3D boxes with half-extents and optional center, rotations, colors etc.

Note that orienting and placing the box is handled via [archetypes.InstancePoses3D]. Some of its component are repeated here for convenience. If there’s more instance poses than half sizes, the last half size will be repeated for the remaining poses.

Example

Batch of 3D boxes

fn main() -> Result<(), Box<dyn std::error::Error>> {
    let rec = rerun::RecordingStreamBuilder::new("rerun_example_box3d_batch").spawn()?;

    rec.log(
        "batch",
        &rerun::Boxes3D::from_centers_and_half_sizes(
            [(2.0, 0.0, 0.0), (-2.0, 0.0, 0.0), (0.0, 0.0, 2.0)],
            [(2.0, 2.0, 1.0), (1.0, 1.0, 0.5), (2.0, 0.5, 1.0)],
        )
        .with_quaternions([
            rerun::Quaternion::IDENTITY,
            rerun::Quaternion::from_xyzw([0.0, 0.0, 0.382683, 0.923880]), // 45 degrees around Z
        ])
        .with_radii([0.025])
        .with_colors([
            rerun::Color::from_rgb(255, 0, 0),
            rerun::Color::from_rgb(0, 255, 0),
            rerun::Color::from_rgb(0, 0, 255),
        ])
        .with_fill_mode(rerun::FillMode::Solid)
        .with_labels(["red", "green", "blue"]),
    )?;

    Ok(())
}

Fields

half_sizes: Vec<HalfSize3D>

All half-extents that make up the batch of boxes.

centers: Option<Vec<PoseTranslation3D>>

Optional center positions of the boxes.

If not specified, the centers will be at (0, 0, 0). Note that this uses a components::PoseTranslation3D which is also used by archetypes::InstancePoses3D.

rotation_axis_angles: Option<Vec<PoseRotationAxisAngle>>

Rotations via axis + angle.

If no rotation is specified, the axes of the boxes align with the axes of the local coordinate system. Note that this uses a components::PoseRotationAxisAngle which is also used by archetypes::InstancePoses3D.

quaternions: Option<Vec<PoseRotationQuat>>

Rotations via quaternion.

If no rotation is specified, the axes of the boxes align with the axes of the local coordinate system. Note that this uses a components::PoseRotationQuat which is also used by archetypes::InstancePoses3D.

colors: Option<Vec<Color>>

Optional colors for the boxes.

radii: Option<Vec<Radius>>

Optional radii for the lines that make up the boxes.

fill_mode: Option<FillMode>

Optionally choose whether the boxes are drawn with lines or solid.

labels: Option<Vec<Text>>

Optional text labels for the boxes.

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: Option<ShowLabels>

Optional choice of whether the text labels should be shown by default.

class_ids: Option<Vec<ClassId>>

Optional components::ClassIds for the boxes.

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

Implementations

impl Boxes3D

pub const NUM_COMPONENTS: usize = 11usize

The total number of components in the archetype: 1 required, 3 recommended, 7 optional

impl Boxes3D

pub fn with_centers( self, centers: impl IntoIterator<Item = impl Into<PoseTranslation3D>> ) -> Boxes3D

Optional center positions of the boxes.

If not specified, the centers will be at (0, 0, 0). Note that this uses a components::PoseTranslation3D which is also used by archetypes::InstancePoses3D.

pub fn with_rotation_axis_angles( self, rotation_axis_angles: impl IntoIterator<Item = impl Into<PoseRotationAxisAngle>> ) -> Boxes3D

Rotations via axis + angle.

If no rotation is specified, the axes of the boxes align with the axes of the local coordinate system. Note that this uses a components::PoseRotationAxisAngle which is also used by archetypes::InstancePoses3D.

pub fn with_quaternions( self, quaternions: impl IntoIterator<Item = impl Into<PoseRotationQuat>> ) -> Boxes3D

Rotations via quaternion.

If no rotation is specified, the axes of the boxes align with the axes of the local coordinate system. Note that this uses a components::PoseRotationQuat which is also used by archetypes::InstancePoses3D.

pub fn with_colors( self, colors: impl IntoIterator<Item = impl Into<Color>> ) -> Boxes3D

Optional colors for the boxes.

pub fn with_radii( self, radii: impl IntoIterator<Item = impl Into<Radius>> ) -> Boxes3D

Optional radii for the lines that make up the boxes.

pub fn with_fill_mode(self, fill_mode: impl Into<FillMode>) -> Boxes3D

Optionally choose whether the boxes are drawn with lines or solid.

pub fn with_labels( self, labels: impl IntoIterator<Item = impl Into<Text>> ) -> Boxes3D

Optional text labels for the boxes.

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.

pub fn with_show_labels(self, show_labels: impl Into<ShowLabels>) -> Boxes3D

Optional choice of whether the text labels should be shown by default.

pub fn with_class_ids( self, class_ids: impl IntoIterator<Item = impl Into<ClassId>> ) -> Boxes3D

Optional components::ClassIds for the boxes.

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

impl Boxes3D

pub fn from_half_sizes( half_sizes: impl IntoIterator<Item = impl Into<HalfSize3D>> ) -> Boxes3D

Creates new Boxes3D with Self::half_sizes centered around the local origin.

pub fn from_centers_and_half_sizes( centers: impl IntoIterator<Item = impl Into<PoseTranslation3D>>, half_sizes: impl IntoIterator<Item = impl Into<HalfSize3D>> ) -> Boxes3D

Creates new Boxes3D with Self::centers and Self::half_sizes.

pub fn from_sizes(sizes: impl IntoIterator<Item = impl Into<Vec3D>>) -> Boxes3D

Creates new Boxes3D with Self::half_sizes created from (full) sizes.

TODO(#3285): Does not preserve data as-is and instead creates half-sizes from the input data.

pub fn from_centers_and_sizes( centers: impl IntoIterator<Item = impl Into<PoseTranslation3D>>, sizes: impl IntoIterator<Item = impl Into<Vec3D>> ) -> Boxes3D

Creates new Boxes3D with Self::centers and Self::half_sizes created from centers and (full) sizes.

TODO(#3285): Does not preserve data as-is and instead creates half-sizes from the input data.

pub fn from_mins_and_sizes( mins: impl IntoIterator<Item = impl Into<Vec3D>>, sizes: impl IntoIterator<Item = impl Into<Vec3D>> ) -> Boxes3D

Creates new Boxes3D with Self::centers and Self::half_sizes created from minimums and (full) sizes.

TODO(#3285): Does not preserve data as-is and instead creates centers and half-sizes from the input data.

Trait Implementations

impl Archetype for Boxes3D

type Indicator = GenericIndicatorComponent<Boxes3D>

The associated indicator component, whose presence indicates that the high-level archetype-based APIs were used to log the data.

fn name() -> ArchetypeName

The fully-qualified name of this archetype, e.g. rerun.archetypes.Points2D.

fn display_name() -> &'static str

Readable name for displaying in ui.

fn indicator() -> MaybeOwnedComponentBatch<'static>

Creates a ComponentBatch out of the associated Self::Indicator component.

fn required_components() -> Cow<'static, [ComponentName]>

Returns the names of all components that must be provided by the user when constructing this archetype.

fn recommended_components() -> Cow<'static, [ComponentName]>

Returns the names of all components that should be provided by the user when constructing this archetype.

fn optional_components() -> Cow<'static, [ComponentName]>

Returns the names of all components that may be provided by the user when constructing this archetype.

fn all_components() -> Cow<'static, [ComponentName]>

Returns the names of all components that must, should and may be provided by the user when constructing this archetype.

fn from_arrow_components( arrow_data: impl IntoIterator<Item = (ComponentName, Box<dyn Array>)> ) -> Result<Boxes3D, DeserializationError>

Given an iterator of Arrow arrays and their respective ComponentNames, deserializes them into this archetype.

fn from_arrow( data: impl IntoIterator<Item = (Field, Box<dyn Array>)> ) -> Result<Self, DeserializationError>

where Self: Sized,

Given an iterator of Arrow arrays and their respective field metadata, deserializes them into this archetype.

impl AsComponents for Boxes3D

fn as_component_batches(&self) -> Vec<MaybeOwnedComponentBatch<'_>>

Exposes the object’s contents as a set of ComponentBatchs.

fn to_arrow(&self) -> Result<Vec<(Field, Box<dyn Array>)>, SerializationError>

Serializes all non-null Components of this bundle into Arrow arrays.

impl Clone for Boxes3D

fn clone(&self) -> Boxes3D

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for Boxes3D

fn fmt(&self, f: &mut Formatter<'_>) -> Result<(), Error>

Formats the value using the given formatter.

impl PartialEq for Boxes3D

fn eq(&self, other: &Boxes3D) -> bool

This method tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl SizeBytes for Boxes3D

fn heap_size_bytes(&self) -> u64

Returns the total size of self on the heap, in bytes.

fn is_pod() -> bool

Is Self just plain old data?

fn total_size_bytes(&self) -> u64

Returns the total size of self in bytes, accounting for both stack and heap space.

fn stack_size_bytes(&self) -> u64

Returns the total size of self on the stack, in bytes.

impl ArchetypeReflectionMarker for Boxes3D

impl StructuralPartialEq for Boxes3D