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

#include <rerun/archetypes/pinhole.hpp>

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 camera orientation convention.

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_child_frame (const rerun::components::TransformFrameId &_child_frame) &&
	The child frame this transform transforms from.

Pinhole	with_many_child_frame (const Collection< rerun::components::TransformFrameId > &_child_frame) &&
	This method makes it possible to pack multiple `child_frame` in a single component batch.

Pinhole	with_parent_frame (const rerun::components::TransformFrameId &_parent_frame) &&
	The parent frame this transform transforms into.

Pinhole	with_many_parent_frame (const Collection< rerun::components::TransformFrameId > &_parent_frame) &&
	This method makes it possible to pack multiple `parent_frame` 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.

Pinhole	with_color (const rerun::components::Color &_color) &&
	Color of the camera wireframe.

Pinhole	with_many_color (const Collection< rerun::components::Color > &_color) &&
	This method makes it possible to pack multiple `color` in a single component batch.

Pinhole	with_line_width (const rerun::components::Radius &_line_width) &&
	Width of the camera wireframe lines.

Pinhole	with_many_line_width (const Collection< rerun::components::Radius > &_line_width) &&
	This method makes it possible to pack multiple `line_width` 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 camera orientation convention.

std::optional< ComponentBatch >	child_frame
	The child frame this transform transforms from.

std::optional< ComponentBatch >	parent_frame
	The parent frame this transform transforms into.

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.

std::optional< ComponentBatch >	color
	Color of the camera wireframe.

std::optional< ComponentBatch >	line_width
	Width of the camera wireframe lines.

Static Public Attributes
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_child_frame
	`ComponentDescriptor` for the `child_frame` field.

static constexpr auto	Descriptor_parent_frame
	`ComponentDescriptor` for the `parent_frame` field.

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

static constexpr auto	Descriptor_color
	`ComponentDescriptor` for the `color` field.

static constexpr auto	Descriptor_line_width
	`ComponentDescriptor` for the `line_width` field.

Detailed Description

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

intrinsics).

If archetypes::Transform3D is logged for the same child/parent relationship (e.g. for the camera extrinsics), it takes precedence over archetypes::Pinhole.

If you use named transform frames via the child_frame and parent_frame fields, you don't have to use archetypes::CoordinateFrame as it is the case with other visualizations: for any entity with an archetypes::Pinhole the viewer will always visualize it directly without needing a archetypes::CoordinateFrame to refer to the pinhole's child/parent frame.

Examples

Simple pinhole camera

#include <rerun.hpp>
 
#include <algorithm> // std::generate
#include <cstdlib>   // std::rand
#include <vector>
 
int main(int argc, char* argv[]) {
    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(int argc, char* argv[]) {
    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)
            .with_color(rerun::Color(255, 128, 0))
            .with_line_width(0.003f)
    );
 
    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_image_from_camera()

Pinhole rerun::archetypes::Pinhole::with_image_from_camera ( const rerun::components::PinholeProjection & _image_from_camera ) &&

inline

Camera projection, from image coordinates to view coordinates.

Any update to this field will reset all other transform properties that aren't changed in the same log call or send_columns row.

◆ 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.

Any update to this field will reset all other transform properties that aren't changed in the same log call or send_columns row.

◆ 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 camera orientation convention.

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

The default is ViewCoordinates::RDF: +X is right, +Y is down, and +Z is forward. This makes the camera frustum point along +Z in the parent space, with its up direction along -Y.

The camera frustum points along the axis set to F, or opposite the axis set to B. When logging a depth image under this entity, this is the direction in which the point cloud is projected.

The frustum's up direction is the axis set to U, or opposite the axis set to D. This matches the -Y direction of pixel space, where all images use RDF coordinates.

The frustum's right direction is the axis set to R, or opposite the axis set to L. This matches the +X direction of pixel space.

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

image_from_camera is always defined to project along +Z in camera coordinates. camera_xyz reorients that projection to the forward axis of the pinhole entity.

◆ 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_child_frame()

Pinhole rerun::archetypes::Pinhole::with_child_frame ( const rerun::components::TransformFrameId & _child_frame ) &&

inline

The child frame this transform transforms from.

The entity at which the transform relationship of any given child frame is specified mustn't change over time, but is allowed to be different for static time. E.g. if you specified the child frame "robot_arm" on an entity named "my_transforms", you may not log transforms with the child frame "robot_arm" on any other entity than "my_transforms" unless one of them was logged with static time.

If not specified, this is set to the implicit transform frame of the current entity path. This means that if a archetypes::Transform3D is set on an entity called /my/entity/path then this will default to tf#/my/entity/path.

To set the frame an entity is part of see archetypes::CoordinateFrame.

Any update to this field will reset all other transform properties that aren't changed in the same log call or send_columns row.

◆ with_many_child_frame()

Pinhole rerun::archetypes::Pinhole::with_many_child_frame ( const Collection< rerun::components::TransformFrameId > & _child_frame ) &&

inline

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

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

◆ with_parent_frame()

Pinhole rerun::archetypes::Pinhole::with_parent_frame ( const rerun::components::TransformFrameId & _parent_frame ) &&

inline

The parent frame this transform transforms into.

If not specified, this is set to the implicit transform frame of the current entity path's parent. This means that if a archetypes::Transform3D is set on an entity called /my/entity/path then this will default to tf#/my/entity.

To set the frame an entity is part of see archetypes::CoordinateFrame.

Any update to this field will reset all other transform properties that aren't changed in the same log call or send_columns row.

◆ with_many_parent_frame()

Pinhole rerun::archetypes::Pinhole::with_many_parent_frame ( const Collection< rerun::components::TransformFrameId > & _parent_frame ) &&

inline

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

This only makes sense when used in conjunction with columns. with_parent_frame 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.

◆ with_many_color()

Pinhole rerun::archetypes::Pinhole::with_many_color ( const Collection< rerun::components::Color > & _color ) &&

inline

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

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

◆ with_many_line_width()

Pinhole rerun::archetypes::Pinhole::with_many_line_width ( const Collection< rerun::components::Radius > & _line_width ) &&

inline

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

This only makes sense when used in conjunction with columns. with_line_width 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

◆ image_from_camera

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

Camera projection, from image coordinates to view coordinates.

Any update to this field will reset all other transform properties that aren't changed in the same log call or send_columns row.

◆ 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.

Any update to this field will reset all other transform properties that aren't changed in the same log call or send_columns row.

◆ camera_xyz

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

Sets the camera orientation convention.

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

The default is ViewCoordinates::RDF: +X is right, +Y is down, and +Z is forward. This makes the camera frustum point along +Z in the parent space, with its up direction along -Y.

The camera frustum points along the axis set to F, or opposite the axis set to B. When logging a depth image under this entity, this is the direction in which the point cloud is projected.

The frustum's up direction is the axis set to U, or opposite the axis set to D. This matches the -Y direction of pixel space, where all images use RDF coordinates.

The frustum's right direction is the axis set to R, or opposite the axis set to L. This matches the +X direction of pixel space.

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

image_from_camera is always defined to project along +Z in camera coordinates. camera_xyz reorients that projection to the forward axis of the pinhole entity.

◆ child_frame

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

The child frame this transform transforms from.

The entity at which the transform relationship of any given child frame is specified mustn't change over time, but is allowed to be different for static time. E.g. if you specified the child frame "robot_arm" on an entity named "my_transforms", you may not log transforms with the child frame "robot_arm" on any other entity than "my_transforms" unless one of them was logged with static time.

If not specified, this is set to the implicit transform frame of the current entity path. This means that if a archetypes::Transform3D is set on an entity called /my/entity/path then this will default to tf#/my/entity/path.

To set the frame an entity is part of see archetypes::CoordinateFrame.

Any update to this field will reset all other transform properties that aren't changed in the same log call or send_columns row.

◆ parent_frame

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

The parent frame this transform transforms into.

If not specified, this is set to the implicit transform frame of the current entity path's parent. This means that if a archetypes::Transform3D is set on an entity called /my/entity/path then this will default to tf#/my/entity.

To set the frame an entity is part of see archetypes::CoordinateFrame.

Any update to this field will reset all other transform properties that aren't changed in the same log call or send_columns row.

◆ 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, "Pinhole:image_from_camera",
            Loggable<rerun::components::PinholeProjection>::ComponentType
        )

ComponentDescriptor for the image_from_camera field.

◆ Descriptor_resolution

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

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "Pinhole:resolution",
            Loggable<rerun::components::Resolution>::ComponentType
        )

ComponentDescriptor for the resolution field.

◆ Descriptor_camera_xyz

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

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "Pinhole:camera_xyz",
            Loggable<rerun::components::ViewCoordinates>::ComponentType
        )

ComponentDescriptor for the camera_xyz field.

◆ Descriptor_child_frame

constexpr auto rerun::archetypes::Pinhole::Descriptor_child_frame

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "Pinhole:child_frame",
            Loggable<rerun::components::TransformFrameId>::ComponentType
        )

ComponentDescriptor for the child_frame field.

◆ Descriptor_parent_frame

constexpr auto rerun::archetypes::Pinhole::Descriptor_parent_frame

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "Pinhole:parent_frame",
            Loggable<rerun::components::TransformFrameId>::ComponentType
        )

ComponentDescriptor for the parent_frame field.

◆ Descriptor_image_plane_distance

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

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "Pinhole:image_plane_distance",
            Loggable<rerun::components::ImagePlaneDistance>::ComponentType
        )

ComponentDescriptor for the image_plane_distance field.

◆ Descriptor_color

constexpr auto rerun::archetypes::Pinhole::Descriptor_color

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "Pinhole:color", Loggable<rerun::components::Color>::ComponentType
        )

ComponentDescriptor for the color field.

◆ Descriptor_line_width

constexpr auto rerun::archetypes::Pinhole::Descriptor_line_width

staticconstexpr

Initial value:

= ComponentDescriptor(
            ArchetypeName, "Pinhole:line_width", Loggable<rerun::components::Radius>::ComponentType
        )

ComponentDescriptor for the line_width field.

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

rerun/archetypes/pinhole.hpp

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_image_from_camera()

◆ with_many_image_from_camera()

◆ with_resolution() [3/3]

◆ with_many_resolution()

◆ with_camera_xyz()

◆ with_many_camera_xyz()

◆ with_child_frame()

◆ with_many_child_frame()

◆ with_parent_frame()

◆ with_many_parent_frame()

◆ with_image_plane_distance()

◆ with_many_image_plane_distance()

◆ with_many_color()

◆ with_many_line_width()

◆ columns() [1/2]

◆ columns() [2/2]

Member Data Documentation

◆ image_from_camera

◆ resolution

◆ camera_xyz

◆ child_frame

◆ parent_frame

◆ image_plane_distance

◆ Descriptor_image_from_camera

◆ Descriptor_resolution

◆ Descriptor_camera_xyz

◆ Descriptor_child_frame

◆ Descriptor_parent_frame

◆ Descriptor_image_plane_distance

◆ Descriptor_color

◆ Descriptor_line_width