Boxes3D (original) (raw)

"""Log a batch of oriented bounding boxes."""

import rerun as rr

rr.init("rerun_example_box3d_batch", spawn=True)

rr.log(
    "batch",
    rr.Boxes3D(
        centers=[[2, 0, 0], [-2, 0, 0], [0, 0, 2]],
        half_sizes=[[2.0, 2.0, 1.0], [1.0, 1.0, 0.5], [2.0, 0.5, 1.0]],
        quaternions=[
            rr.Quaternion.identity(),
            rr.Quaternion(xyzw=[0.0, 0.0, 0.382683, 0.923880]),  # 45 degrees around Z
        ],
        radii=0.025,
        colors=[(255, 0, 0), (0, 255, 0), (0, 0, 255)],
        fill_mode="solid",
        labels=["red", "green", "blue"],
    ),
)