wehub-resource-sync
79 lines
2.8 KiB
Markdown
79 lines
2.8 KiB
Markdown
<!--[metadata]
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title = "VRS viewer"
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source = "https://github.com/rerun-io/cpp-example-vrs"
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tags = ["2D", "3D", "VRS", "Viewer", "C++"]
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thumbnail = "https://static.rerun.io/vrs/614f0adf0dd31fa01fff0d6eaeae67bbe8ba9af0/480w.png"
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thumbnail_dimensions = [480, 482]
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-->
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<picture>
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<img src="https://static.rerun.io/cpp-example-vrs/c765460d4448da27bb9ee2a2a15f092f82a402d2/full.png" alt="">
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<source media="(max-width: 480px)" srcset="https://static.rerun.io/cpp-example-vrs/c765460d4448da27bb9ee2a2a15f092f82a402d2/480w.png">
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<source media="(max-width: 768px)" srcset="https://static.rerun.io/cpp-example-vrs/c765460d4448da27bb9ee2a2a15f092f82a402d2/768w.png">
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<source media="(max-width: 1024px)" srcset="https://static.rerun.io/cpp-example-vrs/c765460d4448da27bb9ee2a2a15f092f82a402d2/1024w.png">
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</picture>
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This is an example that shows how to use Rerun's C++ API to log and view [VRS](https://github.com/facebookresearch/vrs) files.
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# Used Rerun types
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[`Arrows3D`](https://www.rerun.io/docs/reference/types/archetypes/arrows3d), [`Image`](https://www.rerun.io/docs/reference/types/archetypes/image), [`Scalars`](https://www.rerun.io/docs/reference/types/archetypes/scalars), [`TextDocument`](https://www.rerun.io/docs/reference/types/archetypes/text_document)
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# Background
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This C++ example demonstrates how to visualize VRS files with Rerun.
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VRS is a file format optimized to record & playback streams of sensor data, such as images, audio samples, and any other discrete sensors (IMU, temperature, etc), stored in per-device streams of time-stamped records.
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# Logging and visualizing with Rerun
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The visualizations in this example were created with the following Rerun code:
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## 3D arrows
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```cpp
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void IMUPlayer::log_accelerometer(const std::array<float, 3>& accelMSec2) {
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_rec->log(_entity_path + "/accelerometer", rerun::Arrows3D::from_vectors({accelMSec2}));
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// … existing code for scalars …
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}
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```
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## Scalars
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```cpp
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void IMUPlayer::log_accelerometer(const std::array<float, 3>& accelMSec2) {
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// … existing code for Arrows3D …
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_rec->log(_entity_path + "/accelerometer", rerun::Scalars(accelMSec2));
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}
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```
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```cpp
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void IMUPlayer::log_gyroscope(const std::array<float, 3>& gyroRadSec) {
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_rec->log(_entity_path + "/gyroscope", rerun::Scalars(gyroRadSec));
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}
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```
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```cpp
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void IMUPlayer::log_magnetometer(const std::array<float, 3>& magTesla) {
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_rec->log(_entity_path + "/magnetometer", rerun::Scalars(magTesla));
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}
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```
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## Images
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```cpp
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_rec->log(
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_entity_path,
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rerun::Image({
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frame->getHeight(),
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frame->getWidth(),
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frame->getSpec().getChannelCountPerPixel()},
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frame->getBuffer()
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)
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);
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```
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## Text document
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```cpp
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_rec->log_static(_entity_path + "/configuration", rerun::TextDocument(layout_str));
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```
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# Run the code
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You can find the build instructions here: [C++ Example: VRS Viewer](https://github.com/rerun-io/cpp-example-vrs)
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