LineStrips3D

"""Log a simple line strip."""

import rerun as rr

rr.init("rerun_example_line_strip3d", spawn=True)

points = [
    [0, 0, 0],
    [0, 0, 1],
    [1, 0, 0],
    [1, 0, 1],
    [1, 1, 0],
    [1, 1, 1],
    [0, 1, 0],
    [0, 1, 1],
]

rr.log("strip", rr.LineStrips3D([points]))

#!/usr/bin/env python3
"""Log a simple set of line segments."""

import numpy as np

import rerun as rr

rr.init("rerun_example_line_segments3d", spawn=True)

rr.log(
    "segments",
    rr.LineStrips3D(
        np.array(
            [
                [[0, 0, 0], [0, 0, 1]],
                [[1, 0, 0], [1, 0, 1]],
                [[1, 1, 0], [1, 1, 1]],
                [[0, 1, 0], [0, 1, 1]],
            ],
        ),
    ),
)

"""Log a batch of 3D line strips."""

import rerun as rr

rr.init("rerun_example_line_strip3d_batch", spawn=True)

rr.log(
    "strips",
    rr.LineStrips3D(
        [
            [
                [0, 0, 2],
                [1, 0, 2],
                [1, 1, 2],
                [0, 1, 2],
            ],
            [
                [0, 0, 0],
                [0, 0, 1],
                [1, 0, 0],
                [1, 0, 1],
                [1, 1, 0],
                [1, 1, 1],
                [0, 1, 0],
                [0, 1, 1],
            ],
        ],
        colors=[[255, 0, 0], [0, 255, 0]],
        radii=[0.025, 0.005],
        labels=["one strip here", "and one strip there"],
    ),
)

"""Log lines with ui points & scene unit radii."""

import rerun as rr

rr.init("rerun_example_line_strip3d_ui_radius", spawn=True)

# A blue line with a scene unit radii of 0.01.
points = [[0, 0, 0], [0, 0, 1], [1, 0, 0], [1, 0, 1]]
rr.log(
    "scene_unit_line",
    rr.LineStrips3D(
        [points],
        # By default, radii are interpreted as world-space units.
        radii=0.01,
        colors=[0, 0, 255],
    ),
)

# A red line with a ui point radii of 5.
# UI points are independent of zooming in Views, but are sensitive to the application UI scaling.
# For 100% ui scaling, UI points are equal to pixels.
points = [[3, 0, 0], [3, 0, 1], [4, 0, 0], [4, 0, 1]]
rr.log(
    "ui_points_line",
    rr.LineStrips3D(
        [points],
        # rr.Radius.ui_points produces radii that the viewer interprets as given in ui points.
        radii=rr.Radius.ui_points(5.0),
        colors=[255, 0, 0],
    ),
)

"""Log line strips over time and view a sliding window, e.g. for trajectories."""

import math

import rerun as rr
import rerun.blueprint as rrb


def point(t: float, phase: float) -> list[float]:
    # Sample a point on a helix.
    angle = 0.5 * t + phase
    return [math.cos(angle), math.sin(angle), 0.1 * t]


rr.init("rerun_example_line_strips3d_time_window", spawn=True)

# Configure the visible time range in the blueprint.
# You can also override this per entity.
rr.send_blueprint(
    rrb.Spatial3DView(
        origin="/",
        time_ranges=rrb.VisibleTimeRange(
            "time",
            start=rrb.TimeRangeBoundary.cursor_relative(seconds=-5.0),
            end=rrb.TimeRangeBoundary.cursor_relative(),
        ),
    )
)

# Log the line strip increments with timestamps.
for i in range(600):
    t0 = i / 30.0
    t1 = (i + 1) / 30.0

    rr.set_time("time", duration=t1)
    rr.log(
        "trails",
        rr.LineStrips3D(
            [
                [point(t0, 0.0), point(t1, 0.0)],
                [point(t0, math.pi), point(t1, math.pi)],
            ],
            colors=[[255, 120, 0], [0, 180, 255]],
            radii=0.02,
        ),
    )