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

Used Rerun types

Arrows3D, Image, Scalar, 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

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

void IMUPlayer::log_accelerometer(const std::array<float, 3>& accelMSec2) {
    // … existing code for Arrows3D …
    _rec->log(_entity_path + "/accelerometer/x", rerun::Scalar(accelMSec2[0]));
    _rec->log(_entity_path + "/accelerometer/y", rerun::Scalar(accelMSec2[1]));
    _rec->log(_entity_path + "/accelerometer/z", rerun::Scalar(accelMSec2[2]));
}

void IMUPlayer::log_gyroscope(const std::array<float, 3>& gyroRadSec) {
    _rec->log(_entity_path + "/gyroscope/x", rerun::Scalar(gyroRadSec[0]));
    _rec->log(_entity_path + "/gyroscope/y", rerun::Scalar(gyroRadSec[1]));
    _rec->log(_entity_path + "/gyroscope/z", rerun::Scalar(gyroRadSec[2]));
}

void IMUPlayer::log_magnetometer(const std::array<float, 3>& magTesla) {
    _rec->log(_entity_path + "/magnetometer/x", rerun::Scalar(magTesla[0]));
    _rec->log(_entity_path + "/magnetometer/y", rerun::Scalar(magTesla[1]));
    _rec->log(_entity_path + "/magnetometer/z", rerun::Scalar(magTesla[2]));
}

Images

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

Text document

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

Run the code

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