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This is an example that shows how to use Rerun's C++ API to log and view VRS files.

Used Rerun types

Arrows3D, Image, Scalars, TextDocument

Background

This C++ example demonstrates how to visualize VRS files with Rerun. VRS is a file format optimized to record & playback streams of sensor data, such as images, audio samples, and any other discrete sensors (IMU, temperature, etc), stored in per-device streams of time-stamped records.

Logging and visualizing with Rerun

The visualizations in this example were created with the following Rerun code:

3D arrows

cpp

void IMUPlayer::log_accelerometer(const std::array<float, 3>& accelMSec2) {
    _rec->log(_entity_path + "/accelerometer", rerun::Arrows3D::from_vectors({accelMSec2}));
    // … existing code for scalars …
}

Scalars

cpp

void IMUPlayer::log_accelerometer(const std::array<float, 3>& accelMSec2) {
    // … existing code for Arrows3D …
    _rec->log(_entity_path + "/accelerometer", rerun::Scalars(accelMSec2));
}

cpp

void IMUPlayer::log_gyroscope(const std::array<float, 3>& gyroRadSec) {
    _rec->log(_entity_path + "/gyroscope", rerun::Scalars(gyroRadSec));
}

cpp

void IMUPlayer::log_magnetometer(const std::array<float, 3>& magTesla) {
    _rec->log(_entity_path + "/magnetometer", rerun::Scalars(magTesla));
}

Images

cpp

_rec->log(
    _entity_path,
    rerun::Image({
    frame->getHeight(),
    frame->getWidth(),
    frame->getSpec().getChannelCountPerPixel()},
    frame->getBuffer()
    )
);

Text document

cpp

_rec->log_static(_entity_path + "/configuration", rerun::TextDocument(layout_str));

Run the code

You can find the build instructions here: C++ Example: VRS Viewer