Archetype: Camera perspective projection (a.k.a. More...

#include <rerun/archetypes/pinhole.hpp>

Public Types
using	IndicatorComponent = rerun::components::IndicatorComponent< IndicatorComponentName >
	Indicator component, used to identify the archetype when converting to a list of components.

Public Member Functions
Pinhole	with_resolution (float width, float height) &&
	Pixel resolution (usually integers) of child image space.

Pinhole	with_resolution (int width, int height) &&
	Pixel resolution (usually integers) of child image space.

	Pinhole (Pinhole &&other)=default

	Pinhole (rerun::components::PinholeProjection _image_from_camera)

Pinhole	with_resolution (rerun::components::Resolution _resolution) &&
	Pixel resolution (usually integers) of child image space.

Pinhole	with_camera_xyz (rerun::components::ViewCoordinates _camera_xyz) &&
	Sets the view coordinates for the camera.

Pinhole	with_image_plane_distance (rerun::components::ImagePlaneDistance _image_plane_distance) &&
	The distance from the camera origin to the image plane when the projection is shown in a 3D viewer.

Static Public Member Functions
static Pinhole	from_focal_length_and_resolution (const datatypes::Vec2D &focal_length, const datatypes::Vec2D &resolution)
	Creates a pinhole from the camera focal length and resolution, both specified in pixels.

static Pinhole	from_focal_length_and_resolution (float focal_length, const datatypes::Vec2D &resolution)
	Creates a symmetric pinhole from the camera focal length and resolution, both specified in pixels.

static Pinhole	from_fov_and_aspect_ratio (float fov_y, float aspect_ratio)
	Creates a pinhole from the camera vertical field of view (in radians) and aspect ratio (width/height).

Public Attributes
rerun::components::PinholeProjection	image_from_camera
	Camera projection, from image coordinates to view coordinates.

std::optional< rerun::components::Resolution >	resolution
	Pixel resolution (usually integers) of child image space.

std::optional< rerun::components::ViewCoordinates >	camera_xyz
	Sets the view coordinates for the camera.

std::optional< rerun::components::ImagePlaneDistance >	image_plane_distance
	The distance from the camera origin to the image plane when the projection is shown in a 3D viewer.

Static Public Attributes
static constexpr const char	IndicatorComponentName [] = "rerun.components.PinholeIndicator"

Detailed Description

Archetype: Camera perspective projection (a.k.a.

intrinsics).

Examples

Simple pinhole camera

#include <rerun.hpp>
 
#include <algorithm> // std::generate
#include <cstdlib>   // std::rand
#include <vector>
 
int main() {
    const auto rec = rerun::RecordingStream("rerun_example_pinhole");
    rec.spawn().exit_on_failure();
 
    rec.log("world/image", rerun::Pinhole::from_focal_length_and_resolution(3.0f, {3.0f, 3.0f}));
 
    std::vector<uint8_t> random_data(3 * 3 * 3);
    std::generate(random_data.begin(), random_data.end(), [] {
        return static_cast<uint8_t>(std::rand());
    });
 
    rec.log("world/image", rerun::Image::from_rgb24(random_data, {3, 3}));
}

Perspective pinhole camera

#include <rerun.hpp>
 
int main() {
    const auto rec = rerun::RecordingStream("rerun_example_pinhole_perspective");
    rec.spawn().exit_on_failure();
 
    const float fov_y = 0.7853982f;
    const float aspect_ratio = 1.7777778f;
    rec.log(
        "world/cam",
        rerun::Pinhole::from_fov_and_aspect_ratio(fov_y, aspect_ratio)
            .with_camera_xyz(rerun::components::ViewCoordinates::RUB)
            .with_image_plane_distance(0.1f)
    );
 
    rec.log(
        "world/points",
        rerun::Points3D({{0.0f, 0.0f, -0.5f}, {0.1f, 0.1f, -0.5f}, {-0.1f, -0.1f, -0.5f}}
        ).with_radii({0.025f})
    );
}

Member Function Documentation

◆ from_focal_length_and_resolution() [1/2]

static Pinhole rerun::archetypes::Pinhole::from_focal_length_and_resolution	(	const datatypes::Vec2D &	focal_length,
		const datatypes::Vec2D &	resolution
	)

static

Creates a pinhole from the camera focal length and resolution, both specified in pixels.

The focal length is the diagonal of the projection matrix. Set the same value for x & y value for symmetric cameras, or two values for anamorphic cameras.

Assumes the principal point to be in the middle of the sensor.

◆ from_focal_length_and_resolution() [2/2]

static Pinhole rerun::archetypes::Pinhole::from_focal_length_and_resolution	(	float	focal_length,
		const datatypes::Vec2D &	resolution
	)

inlinestatic

Creates a symmetric pinhole from the camera focal length and resolution, both specified in pixels.

The focal length is the diagonal of the projection matrix.

Assumes the principal point to be in the middle of the sensor.

◆ from_fov_and_aspect_ratio()

static Pinhole rerun::archetypes::Pinhole::from_fov_and_aspect_ratio	(	float	fov_y,
		float	aspect_ratio
	)

inlinestatic

Creates a pinhole from the camera vertical field of view (in radians) and aspect ratio (width/height).

Assumes the principal point to be in the middle of the sensor.

◆ with_resolution() [1/3]

Pinhole rerun::archetypes::Pinhole::with_resolution	(	float	width,
		float	height
	)		&&

inline

Pixel resolution (usually integers) of child image space.

Width and height.

image_from_camera project onto the space spanned by (0,0) and resolution - 1.

◆ with_resolution() [2/3]

Pinhole rerun::archetypes::Pinhole::with_resolution	(	int	width,
		int	height
	)		&&

inline

Pixel resolution (usually integers) of child image space.

Width and height.

image_from_camera project onto the space spanned by (0,0) and resolution - 1.

◆ with_resolution() [3/3]

Pinhole rerun::archetypes::Pinhole::with_resolution ( rerun::components::Resolution _resolution ) &&

inline

Pixel resolution (usually integers) of child image space.

Width and height.

Example:

[1920.0, 1440.0]

image_from_camera project onto the space spanned by (0,0) and resolution - 1.

◆ with_camera_xyz()

Pinhole rerun::archetypes::Pinhole::with_camera_xyz ( rerun::components::ViewCoordinates _camera_xyz ) &&

inline

Sets the view coordinates for the camera.

All common values are available as constants on the components.ViewCoordinates class.

The default is ViewCoordinates::RDF, i.e. X=Right, Y=Down, Z=Forward, and this is also the recommended setting. This means that the camera frustum will point along the positive Z axis of the parent space, and the cameras "up" direction will be along the negative Y axis of the parent space.

The camera frustum will point whichever axis is set to F (or the opposite of B). When logging a depth image under this entity, this is the direction the point cloud will be projected. With RDF, the default forward is +Z.

The frustum's "up" direction will be whichever axis is set to U (or the opposite of D). This will match the negative Y direction of pixel space (all images are assumed to have xyz=RDF). With RDF, the default is up is -Y.

The frustum's "right" direction will be whichever axis is set to R (or the opposite of L). This will match the positive X direction of pixel space (all images are assumed to have xyz=RDF). With RDF, the default right is +x.

Other common formats are RUB (X=Right, Y=Up, Z=Back) and FLU (X=Forward, Y=Left, Z=Up).

NOTE: setting this to something else than RDF (the default) will change the orientation of the camera frustum, and make the pinhole matrix not match up with the coordinate system of the pinhole entity.

The pinhole matrix (the image_from_camera argument) always project along the third (Z) axis, but will be re-oriented to project along the forward axis of the camera_xyz argument.

◆ with_image_plane_distance()

Pinhole rerun::archetypes::Pinhole::with_image_plane_distance ( rerun::components::ImagePlaneDistance _image_plane_distance ) &&

inline

The distance from the camera origin to the image plane when the projection is shown in a 3D viewer.

This is only used for visualization purposes, and does not affect the projection itself.

Member Data Documentation

◆ resolution

std::optional<rerun::components::Resolution> rerun::archetypes::Pinhole::resolution

Pixel resolution (usually integers) of child image space.

Width and height.

Example:

[1920.0, 1440.0]

image_from_camera project onto the space spanned by (0,0) and resolution - 1.

◆ camera_xyz

std::optional<rerun::components::ViewCoordinates> rerun::archetypes::Pinhole::camera_xyz