Struct CoordinateFrame 

pub struct CoordinateFrame {
    pub frame_id: Option<SerializedComponentBatch>,
}

Archetype: Specifies the coordinate frame for an entity.

Experimental: Transform frames are still in early development!

If not specified, the coordinate frame uses an implicit frame derived from the entity path. The implicit frame’s name is tf#/your/entity/path and has an identity transform connection to its parent path.

To learn more about transforms see Spaces & Transforms in the reference.

⚠️ This type is unstable and may change significantly in a way that the data won’t be backwards compatible.

Example

Change coordinate frame to different built-in frames

#![expect(clippy::cast_possible_wrap)]

fn main() -> Result<(), Box<dyn std::error::Error>> {
    let rec = rerun::RecordingStreamBuilder::new("rerun_example_transform3d_hierarchy").spawn()?;

    rec.set_time_sequence("time", 0);
    rec.log(
        "red_box",
        &[
            &rerun::Boxes3D::from_half_sizes([(0.5, 0.5, 0.5)]).with_colors([(255, 0, 0)])
                as &dyn rerun::AsComponents,
            // Use Transform3D to place the box, so we actually change the underlying coordinate frame and not just the box's pose.
            &rerun::Transform3D::from_translation([2.0, 0.0, 0.0]),
        ],
    )?;
    rec.log(
        "blue_box",
        &[
            &rerun::Boxes3D::from_half_sizes([(0.5, 0.5, 0.5)]).with_colors([(0, 0, 255)])
                as &dyn rerun::AsComponents,
            // Use Transform3D to place the box, so we actually change the underlying coordinate frame and not just the box's pose.
            &rerun::Transform3D::from_translation([-2.0, 0.0, 0.0]),
        ],
    )?;
    rec.log(
        "point",
        &rerun::Points3D::new([(0.0, 0.0, 0.0)]).with_radii([0.5]),
    )?;

    // Change where the point is located by cycling through its coordinate frame.
    for (t, frame_id) in ["tf#/red_box", "tf#/blue_box"].into_iter().enumerate() {
        rec.set_time_sequence("time", t as i64 + 1); // leave it untouched at t==0.
        rec.log("point", &rerun::CoordinateFrame::new(frame_id))?;
    }

    Ok(())
}

Fields

frame_id: Option<SerializedComponentBatch>

The coordinate frame to use for the current entity.

Implementations

impl CoordinateFrame

pub fn descriptor_frame_id() -> ComponentDescriptor

Returns the ComponentDescriptor for Self::frame_id.

The corresponding component is crate::components::TransformFrameId.

impl CoordinateFrame

pub const NUM_COMPONENTS: usize = 1usize

The total number of components in the archetype: 1 required, 0 recommended, 0 optional

impl CoordinateFrame

pub fn new(frame_id: impl Into<TransformFrameId>) -> CoordinateFrame

Create a new CoordinateFrame.

pub fn update_fields() -> CoordinateFrame

Update only some specific fields of a CoordinateFrame.

pub fn clear_fields() -> CoordinateFrame

Clear all the fields of a CoordinateFrame.

pub fn columns<I>( self, _lengths: I, ) -> Result<impl Iterator<Item = SerializedComponentColumn>, SerializationError>

where I: IntoIterator<Item = usize> + Clone,

Partitions the component data into multiple sub-batches.

Specifically, this transforms the existing SerializedComponentBatches data into SerializedComponentColumns instead, via SerializedComponentBatch::partitioned.

This makes it possible to use RecordingStream::send_columns to send columnar data directly into Rerun.

The specified lengths must sum to the total length of the component batch.

pub fn columns_of_unit_batches( self, ) -> Result<impl Iterator<Item = SerializedComponentColumn>, SerializationError>

Helper to partition the component data into unit-length sub-batches.

This is semantically similar to calling Self::columns with std::iter::take(1).repeat(n), where n is automatically guessed.

pub fn with_frame_id( self, frame_id: impl Into<TransformFrameId>, ) -> CoordinateFrame

The coordinate frame to use for the current entity.

pub fn with_many_frame_id( self, frame_id: impl IntoIterator<Item = impl Into<TransformFrameId>>, ) -> CoordinateFrame

This method makes it possible to pack multiple crate::components::TransformFrameId in a single component batch.

This only makes sense when used in conjunction with Self::columns. Self::with_frame_id should be used when logging a single row’s worth of data.

Trait Implementations

impl Archetype for CoordinateFrame

fn name() -> ArchetypeName

The fully-qualified name of this archetype, e.g. rerun.archetypes.Points2D.

fn display_name() -> &'static str

Readable name for displaying in UI.

fn required_components() -> Cow<'static, [ComponentDescriptor]>

Returns all component descriptors that must be provided by the user when constructing this archetype.

fn recommended_components() -> Cow<'static, [ComponentDescriptor]>

Returns all component descriptors that should be provided by the user when constructing this archetype.

fn optional_components() -> Cow<'static, [ComponentDescriptor]>

Returns all component descriptors that may be provided by the user when constructing this archetype.

fn all_components() -> Cow<'static, [ComponentDescriptor]>

Returns all component descriptors that must, should and may be provided by the user when constructing this archetype.

fn from_arrow_components( arrow_data: impl IntoIterator<Item = (ComponentDescriptor, Arc<dyn Array>)>, ) -> Result<CoordinateFrame, DeserializationError>

Given an iterator of Arrow arrays and their respective ComponentDescriptors, deserializes them into this archetype.

fn all_component_identifiers() -> impl Iterator<Item = ComponentIdentifier>

Utility method based on Self::all_components to return all component identifiers.

fn from_arrow( data: impl IntoIterator<Item = (Field, Arc<dyn Array>)>, ) -> Result<Self, DeserializationError>

where Self: Sized,

Given an iterator of Arrow arrays and their respective field metadata, deserializes them into this archetype.

impl AsComponents for CoordinateFrame

fn as_serialized_batches(&self) -> Vec<SerializedComponentBatch>

Exposes the object’s contents as a set of SerializedComponentBatches.

fn to_arrow(&self) -> Result<Vec<(Field, Arc<dyn Array>)>, SerializationError>

Serializes all non-null Components of this bundle into Arrow arrays.

impl Clone for CoordinateFrame

fn clone(&self) -> CoordinateFrame

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for CoordinateFrame

fn fmt(&self, f: &mut Formatter<'_>) -> Result<(), Error>

Formats the value using the given formatter.

impl Default for CoordinateFrame

fn default() -> CoordinateFrame

Returns the “default value” for a type.

impl PartialEq for CoordinateFrame

fn eq(&self, other: &CoordinateFrame) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl SizeBytes for CoordinateFrame

fn heap_size_bytes(&self) -> u64

Returns how many bytes self uses on the heap.

fn total_size_bytes(&self) -> u64

Returns the total size of self in bytes, accounting for both stack and heap space.

fn stack_size_bytes(&self) -> u64

Returns the total size of self on the stack, in bytes.

fn is_pod() -> bool

Is Self just plain old data?

impl ArchetypeReflectionMarker for CoordinateFrame

impl StructuralPartialEq for CoordinateFrame