Rerun

InstancePoses3D

One or more transforms between the current entity and its parent. Unlike archetypes.Transform3D, it is not propagated in the transform hierarchy.

If both archetypes.InstancePoses3D and archetypes.Transform3D are present, first the tree propagating archetypes.Transform3D is applied, then archetypes.InstancePoses3D.

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.

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".

Components components

Optional: PoseTranslation3D, PoseRotationAxisAngle, PoseRotationQuat, PoseScale3D, PoseTransformMat3x3

Shown in shown-in

Examples examples

Regular & instance transforms in tandem regular--instance-transforms-in-tandem

"""Log a simple 3D box with a regular & instance pose transform."""

import numpy as np
import rerun as rr

rr.init("rerun_example_instance_pose3d_combined", spawn=True)

rr.set_time_sequence("frame", 0)

# Log a box and points further down in the hierarchy.
rr.log("world/box", rr.Boxes3D(half_sizes=[[1.0, 1.0, 1.0]]))
rr.log("world/box/points", rr.Points3D(np.vstack([xyz.ravel() for xyz in np.mgrid[3 * [slice(-10, 10, 10j)]]]).T))

for i in range(0, 180):
    rr.set_time_sequence("frame", i)

    # Log a regular transform which affects both the box and the points.
    rr.log("world/box", rr.Transform3D(rotation_axis_angle=rr.RotationAxisAngle([0, 0, 1], angle=rr.Angle(deg=i * 2))))

    # Log an instance pose which affects only the box.
    rr.log("world/box", rr.InstancePoses3D(translations=[0, 0, abs(i * 0.1 - 5.0) - 5.0]))
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3D mesh with instancing 3d-mesh-with-instancing

"""Log a simple 3D mesh with several instance pose transforms which instantiate the mesh several times and will not affect its children (known as mesh instancing)."""

import rerun as rr

rr.init("rerun_example_mesh3d_instancing", spawn=True)
rr.set_time_sequence("frame", 0)

rr.log(
    "shape",
    rr.Mesh3D(
        vertex_positions=[[1, 1, 1], [-1, -1, 1], [-1, 1, -1], [1, -1, -1]],
        triangle_indices=[[0, 1, 2], [0, 1, 3], [0, 2, 3], [1, 2, 3]],
        vertex_colors=[[255, 0, 0], [0, 255, 0], [0, 0, 255], [255, 255, 0]],
    ),
)
# This box will not be affected by its parent's instance poses!
rr.log(
    "shape/box",
    rr.Boxes3D(half_sizes=[[5.0, 5.0, 5.0]]),
)

for i in range(0, 100):
    rr.set_time_sequence("frame", i)
    rr.log(
        "shape",
        rr.InstancePoses3D(
            translations=[[2, 0, 0], [0, 2, 0], [0, -2, 0], [-2, 0, 0]],
            rotation_axis_angles=rr.RotationAxisAngle([0, 0, 1], rr.Angle(deg=i * 2)),
        ),
    )
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