Rerun

Transform3D

Transform3D represents an affine 3D transformation between an entity and it's parent space in the entity hierarchy. Read more about spaces and transforms here

Components and APIs

Primary component: transform3d

Python APIs: log_transform3d

Rust API: Transform3D

Simple Example 

"""Log different transforms between three arrows."""
import rerun as rr

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

origin = [0, 0, 0]
base_vector = [0, 1, 0]

rr.log_arrow("base", origin=origin, vector=base_vector)

rr.log_transform3d("base/translated", rr.Translation3D([1, 0, 0]))

rr.log_arrow("base/translated", origin=origin, vector=base_vector)

rr.log_transform3d(
    "base/rotated_scaled",
    rr.TranslationRotationScale3D(rotation=rr.RotationAxisAngle(axis=[0, 0, 1], radians=3.14 / 4), scale=rr.Scale3D(2)),
)

rr.log_arrow("base/rotated_scaled", origin=origin, vector=base_vector)
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