Transform3D
A transform between two 3D spaces, i.e. a pose.
Components components
Required: Transform3D
Optional: AxisLength
Shown in shown-in
- Spatial3DView
- Spatial2DView (if logged above active projection)
API reference links api-reference-links
Example example
Variety of 3D transforms variety-of-3d-transforms
"""Log different transforms between three arrows."""
from math import pi
import rerun as rr
from rerun.datatypes import Angle, RotationAxisAngle
rr.init("rerun_example_transform3d", spawn=True)
arrow = rr.Arrows3D(origins=[0, 0, 0], vectors=[0, 1, 0])
rr.log("base", arrow)
rr.log("base/translated", rr.Transform3D(translation=[1, 0, 0]))
rr.log("base/translated", arrow)
rr.log(
"base/rotated_scaled",
rr.Transform3D(
rotation=RotationAxisAngle(axis=[0, 0, 1], angle=Angle(rad=pi / 4)),
scale=2,
),
)
rr.log("base/rotated_scaled", arrow)
