Boxes3D
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.
Components components
Required: HalfSize3D
Recommended: PoseTranslation3D
, Color
Optional: PoseRotationAxisAngle
, PoseRotationQuat
, Radius
, FillMode
, Text
, ClassId
Shown in shown-in
- Spatial3DView
- Spatial2DView (if logged above active projection)
API reference links api-reference-links
Examples examples
Simple 3D boxes simple-3d-boxes
"""Log a single 3D Box."""
import rerun as rr
rr.init("rerun_example_box3d", spawn=True)
rr.log("simple", rr.Boxes3D(half_sizes=[2.0, 2.0, 1.0]))
Batch of 3D boxes batch-of-3d-boxes
"""Log a batch of oriented bounding boxes."""
import rerun as rr
rr.init("rerun_example_box3d_batch", spawn=True)
rr.log(
"batch",
rr.Boxes3D(
centers=[[2, 0, 0], [-2, 0, 0], [0, 0, 2]],
half_sizes=[[2.0, 2.0, 1.0], [1.0, 1.0, 0.5], [2.0, 0.5, 1.0]],
quaternions=[
rr.Quaternion.identity(),
rr.Quaternion(xyzw=[0.0, 0.0, 0.382683, 0.923880]), # 45 degrees around Z
],
radii=0.025,
colors=[(255, 0, 0), (0, 255, 0), (0, 0, 255)],
fill_mode="solid",
labels=["red", "green", "blue"],
),
)