Points3D

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

Components components

Required: Position3D

Recommended: Radius, Color

Optional: Text, ClassId, KeypointId

Shown in shown-in

Examples examples

Simple 3D points simple-3d-points

"""Log some very simple points."""

import rerun as rr

rr.init("rerun_example_points3d", spawn=True)

rr.log("points", rr.Points3D([[0, 0, 0], [1, 1, 1]]))

Randomly distributed 3D points with varying color and radius randomly-distributed-3d-points-with-varying-color-and-radius

"""Log some random points with color and radii."""

import rerun as rr
from numpy.random import default_rng

rr.init("rerun_example_points3d_random", spawn=True)
rng = default_rng(12345)

positions = rng.uniform(-5, 5, size=[10, 3])
colors = rng.uniform(0, 255, size=[10, 3])
radii = rng.uniform(0, 1, size=[10])

rr.log("random", rr.Points3D(positions, colors=colors, radii=radii))

Log points with radii given in UI points log-points-with-radii-given-in-ui-points

"""Log some points with ui points & scene unit radii."""

import rerun as rr

rr.init("rerun_example_points3d_ui_radius", spawn=True)

# Two blue points with scene unit radii of 0.1 and 0.3.
rr.log(
    "scene_units",
    rr.Points3D(
        [[0, 1, 0], [1, 1, 1]],
        # By default, radii are interpreted as world-space units.
        radii=[0.1, 0.3],
        colors=[0, 0, 255],
    ),
)

# Two red points with ui point radii of 40 and 60.
# UI points are independent of zooming in Views, but are sensitive to the application UI scaling.
# For 100% ui scaling, UI points are equal to pixels.
rr.log(
    "ui_points",
    rr.Points3D(
        [[0, 0, 0], [1, 0, 1]],
        # rr.Radius.ui_points produces radii that the viewer interprets as given in ui points.
        radii=rr.Radius.ui_points([40.0, 60.0]),
        colors=[255, 0, 0],
    ),
)

Send several point clouds with varying point count over time in a single call send-several-point-clouds-with-varying-point-count-over-time-in-a-single-call

"""Use the `send_columns` API to send several point clouds over time in a single call."""

from __future__ import annotations

import numpy as np
import rerun as rr

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

# Prepare a point cloud that evolves over time 5 timesteps, changing the number of points in the process.
times = np.arange(10, 15, 1.0)
positions = [
    [[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]],
]
positions_arr = np.concatenate(positions)

# At each time stamp, all points in the cloud share the same but changing color.
colors = [0xFF0000FF, 0x00FF00FF, 0x0000FFFF, 0xFFFF00FF, 0x00FFFFFF]

rr.send_columns(
    "points",
    times=[rr.TimeSecondsColumn("time", times)],
    components=[
        rr.Points3D.indicator(),
        rr.components.Position3DBatch(positions_arr).partition([len(row) for row in positions]),
        rr.components.ColorBatch(colors),
    ],
)