wehub-resource-sync
57 lines
1.7 KiB
C++
57 lines
1.7 KiB
C++
//! Logs a simple transform hierarchy with named frames.
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#include <rerun.hpp>
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int main(int argc, char* argv[]) {
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const auto rec = rerun::RecordingStream(
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"rerun_example_transform3d_hierarchy_named_frames"
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);
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rec.spawn().exit_on_failure();
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// Define entities with explicit coordinate frames.
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rec.log(
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"sun",
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rerun::Ellipsoids3D::from_half_sizes({{1.0f, 1.0f, 1.0f}})
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.with_colors(rerun::Color(255, 200, 10))
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.with_fill_mode(rerun::FillMode::Solid),
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rerun::CoordinateFrame("sun_frame")
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);
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rec.log(
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"planet",
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rerun::Ellipsoids3D::from_half_sizes({{0.4f, 0.4f, 0.4f}})
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.with_colors(rerun::Color(40, 80, 200))
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.with_fill_mode(rerun::FillMode::Solid),
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rerun::CoordinateFrame("planet_frame")
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);
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rec.log(
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"moon",
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rerun::Ellipsoids3D::from_half_sizes({{0.15f, 0.15f, 0.15f}})
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.with_colors(rerun::Color(180, 180, 180))
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.with_fill_mode(rerun::FillMode::Solid),
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rerun::CoordinateFrame("moon_frame")
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);
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// Define explicit frame relationships.
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rec.log(
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"planet_transform",
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rerun::Transform3D::from_translation({6.0f, 0.0f, 0.0f})
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.with_child_frame("planet_frame")
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.with_parent_frame("sun_frame")
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);
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rec.log(
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"moon_transform",
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rerun::Transform3D::from_translation({3.0f, 0.0f, 0.0f})
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.with_child_frame("moon_frame")
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.with_parent_frame("planet_frame")
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);
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// Connect the viewer to the sun's coordinate frame.
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// This is only needed in the absence of blueprints since a default view will typically be created at `/`.
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rec.log_static("/", rerun::CoordinateFrame("sun_frame"));
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return 0;
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}
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