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 (const Pinhole &other)=default

Pinhole &	operator= (const Pinhole &other)=default

Pinhole &	operator= (Pinhole &&other)=default

	Pinhole (rerun::components::PinholeProjection _image_from_camera)

Pinhole	with_image_from_camera (const rerun::components::PinholeProjection &_image_from_camera) &&
	Camera projection, from image coordinates to view coordinates.

Pinhole	with_many_image_from_camera (const Collection< rerun::components::PinholeProjection > &_image_from_camera) &&
	This method makes it possible to pack multiple `image_from_camera` in a single component batch.

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

Pinhole	with_many_resolution (const Collection< rerun::components::Resolution > &_resolution) &&
	This method makes it possible to pack multiple `resolution` in a single component batch.

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

Pinhole	with_many_camera_xyz (const Collection< rerun::components::ViewCoordinates > &_camera_xyz) &&
	This method makes it possible to pack multiple `camera_xyz` in a single component batch.

Pinhole	with_image_plane_distance (const 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.

Pinhole	with_many_image_plane_distance (const Collection< rerun::components::ImagePlaneDistance > &_image_plane_distance) &&
	This method makes it possible to pack multiple `image_plane_distance` in a single component batch.

Collection< ComponentColumn >	columns (const Collection< uint32_t > &lengths_)
	Partitions the component data into multiple sub-batches.

Collection< ComponentColumn >	columns ()
	Partitions the component data into unit-length sub-batches.

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).

static Pinhole	update_fields ()
	Update only some specific fields of a `Pinhole`.

static Pinhole	clear_fields ()
	Clear all the fields of a `Pinhole`.

Public Attributes
std::optional< ComponentBatch >	image_from_camera
	Camera projection, from image coordinates to view coordinates.

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

std::optional< ComponentBatch >	camera_xyz
	Sets the view coordinates for the camera.

std::optional< ComponentBatch >	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"

static constexpr const char	ArchetypeName [] = "rerun.archetypes.Pinhole"
	The name of the archetype as used in `ComponentDescriptor`s.

static constexpr auto	Descriptor_image_from_camera
	`ComponentDescriptor` for the `image_from_camera` field.

static constexpr auto	Descriptor_resolution
	`ComponentDescriptor` for the `resolution` field.

static constexpr auto	Descriptor_camera_xyz
	`ComponentDescriptor` for the `camera_xyz` field.

static constexpr auto	Descriptor_image_plane_distance
	`ComponentDescriptor` for the `image_plane_distance` field.

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_many_image_from_camera()

Pinhole rerun::archetypes::Pinhole::with_many_image_from_camera ( const Collection< rerun::components::PinholeProjection > & _image_from_camera ) &&

inline

This method makes it possible to pack multiple image_from_camera in a single component batch.

This only makes sense when used in conjunction with columns. with_image_from_camera should be used when logging a single row's worth of data.

◆ with_resolution() [3/3]

Pinhole rerun::archetypes::Pinhole::with_resolution ( const 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_many_resolution()

Pinhole rerun::archetypes::Pinhole::with_many_resolution ( const Collection< rerun::components::Resolution > & _resolution ) &&

inline

This method makes it possible to pack multiple resolution in a single component batch.

This only makes sense when used in conjunction with columns. with_resolution should be used when logging a single row's worth of data.

◆ with_camera_xyz()

Pinhole rerun::archetypes::Pinhole::with_camera_xyz ( const 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_many_camera_xyz()

Pinhole rerun::archetypes::Pinhole::with_many_camera_xyz ( const Collection< rerun::components::ViewCoordinates > & _camera_xyz ) &&

inline

This method makes it possible to pack multiple camera_xyz in a single component batch.

This only makes sense when used in conjunction with columns. with_camera_xyz should be used when logging a single row's worth of data.

◆ with_image_plane_distance()

Pinhole rerun::archetypes::Pinhole::with_image_plane_distance ( const 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.

◆ with_many_image_plane_distance()

Pinhole rerun::archetypes::Pinhole::with_many_image_plane_distance ( const Collection< rerun::components::ImagePlaneDistance > & _image_plane_distance ) &&

inline

This method makes it possible to pack multiple image_plane_distance in a single component batch.

This only makes sense when used in conjunction with columns. with_image_plane_distance should be used when logging a single row's worth of data.

◆ columns() [1/2]

Collection< ComponentColumn > rerun::archetypes::Pinhole::columns ( const Collection< uint32_t > & lengths_ )

Partitions the component data into multiple sub-batches.

Specifically, this transforms the existing ComponentBatch data into ComponentColumns instead, via ComponentBatch::partitioned.

This makes it possible to use RecordingStream::send_columns to send columnar data directly into Rerun.

The specified lengths must sum to the total length of the component batch.

◆ columns() [2/2]

Collection< ComponentColumn > rerun::archetypes::Pinhole::columns ( )

Partitions the component data into unit-length sub-batches.

This is semantically similar to calling columns with std::vector<uint32_t>(n, 1), where n is automatically guessed.

Member Data Documentation

◆ resolution

std::optional<ComponentBatch> 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<ComponentBatch> rerun::archetypes::Pinhole::camera_xyz

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.

◆ image_plane_distance

std::optional<ComponentBatch> rerun::archetypes::Pinhole::image_plane_distance

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.

◆ Descriptor_image_from_camera

constexpr auto rerun::archetypes::Pinhole::Descriptor_image_from_camera

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "image_from_camera",
            Loggable<rerun::components::PinholeProjection>::Descriptor.component_name
        )

ComponentDescriptor for the image_from_camera field.

◆ Descriptor_resolution

constexpr auto rerun::archetypes::Pinhole::Descriptor_resolution

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "resolution",
            Loggable<rerun::components::Resolution>::Descriptor.component_name
        )

ComponentDescriptor for the resolution field.

◆ Descriptor_camera_xyz

constexpr auto rerun::archetypes::Pinhole::Descriptor_camera_xyz

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "camera_xyz",
            Loggable<rerun::components::ViewCoordinates>::Descriptor.component_name
        )

ComponentDescriptor for the camera_xyz field.

◆ Descriptor_image_plane_distance

constexpr auto rerun::archetypes::Pinhole::Descriptor_image_plane_distance

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "image_plane_distance",
            Loggable<rerun::components::ImagePlaneDistance>::Descriptor.component_name
        )

ComponentDescriptor for the image_plane_distance field.

The documentation for this struct was generated from the following file:

rerun/archetypes/pinhole.hpp

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

Examples

Simple pinhole camera

Perspective pinhole camera

Member Function Documentation

◆ from_focal_length_and_resolution() [1/2]

◆ from_focal_length_and_resolution() [2/2]

◆ from_fov_and_aspect_ratio()

◆ with_resolution() [1/3]

◆ with_resolution() [2/3]

◆ with_many_image_from_camera()

◆ with_resolution() [3/3]

◆ with_many_resolution()

◆ with_camera_xyz()

◆ with_many_camera_xyz()

◆ with_image_plane_distance()

◆ with_many_image_plane_distance()

◆ columns() [1/2]

◆ columns() [2/2]

Member Data Documentation

◆ resolution

◆ camera_xyz

◆ image_plane_distance

◆ Descriptor_image_from_camera

◆ Descriptor_resolution

◆ Descriptor_camera_xyz

◆ Descriptor_image_plane_distance