wehub-resource-sync
96 lines
3.0 KiB
C++
96 lines
3.0 KiB
C++
/// Demonstrates how to implement custom archetypes and components, and extend existing ones.
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#include <rerun.hpp>
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#include <rerun/demo_utils.hpp>
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/// A custom component type.
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struct Confidence {
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float value;
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};
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template <>
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struct rerun::Loggable<Confidence> {
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static constexpr std::string_view ComponentType = "user.Confidence";
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static const std::shared_ptr<arrow::DataType>& arrow_datatype() {
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return rerun::Loggable<rerun::Float32>::arrow_datatype();
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}
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// TODO(#4257) should take a rerun::Collection instead of pointer and size.
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static rerun::Result<std::shared_ptr<arrow::Array>> to_arrow(
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const Confidence* instances, size_t num_instances
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) {
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return rerun::Loggable<rerun::Float32>::to_arrow(
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reinterpret_cast<const rerun::Float32*>(instances),
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num_instances
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);
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}
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};
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/// A custom archetype that extends Rerun's builtin `rerun::Points3D` archetype with a custom component.
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struct CustomPoints3D {
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rerun::Points3D points;
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// Using a rerun::Collection is not strictly necessary, you could also use an std::vector for example,
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// but useful for avoiding allocations since `rerun::Collection` can borrow data from other containers.
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std::optional<rerun::Collection<Confidence>> confidences;
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};
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template <>
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struct rerun::AsComponents<CustomPoints3D> {
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static Result<rerun::Collection<ComponentBatch>> as_batches(
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const CustomPoints3D& archetype
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) {
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auto batches =
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AsComponents<rerun::Points3D>::as_batches(archetype.points)
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.value_or_throw()
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.to_vector();
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// Add custom confidence components if present.
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if (archetype.confidences) {
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auto descriptor =
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rerun::ComponentDescriptor("user.CustomPoints3D:confidences")
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.or_with_archetype("user.CustomPoints3D")
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.or_with_component_type(
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rerun::Loggable<Confidence>::ComponentType
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);
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batches.push_back(ComponentBatch::from_loggable(
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*archetype.confidences,
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descriptor
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)
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.value_or_throw());
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}
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return rerun::take_ownership(std::move(batches));
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}
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};
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// ---
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int main(int argc, char* argv[]) {
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const auto rec = rerun::RecordingStream("rerun_example_custom_data");
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rec.spawn().exit_on_failure();
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auto grid = rerun::demo::grid3d<rerun::Position3D, float>(-5.0f, 5.0f, 3);
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rec.log(
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"left/my_confident_point_cloud",
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CustomPoints3D{
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rerun::Points3D(grid),
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Confidence{42.0f},
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}
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);
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std::vector<Confidence> confidences;
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for (auto i = 0; i < 27; ++i) {
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confidences.emplace_back(Confidence{static_cast<float>(i)});
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}
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rec.log(
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"right/my_polarized_point_cloud",
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CustomPoints3D{
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rerun::Points3D(grid),
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confidences,
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}
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);
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}
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