camera.py

rerun.log.camera

def log_pinhole(entity_path, *, child_from_parent, width, height, timeless=False)

Log a perspective camera model.

This logs the pinhole model that projects points from the parent (camera) space to this space (image) such that:

point_image_hom = child_from_parent * point_cam
point_image = point_image_hom[:,1] / point_image_hom[2]

Where point_image_hom is the projected point in the image space expressed in homogeneous coordinates.

Example

width = 640
height = 480
u_cen = width / 2
v_cen = height / 2
f_len = (height * width) ** 0.5

rerun.log_pinhole("world/camera/image",
                  child_from_parent = [[f_len, 0,     u_cen],
                                       [0,     f_len, v_cen],
                                       [0,     0,     1  ]],
                  width = width,
                  height = height)

Parameters:

Name	Type	Description	Default
entity_path	str	Path to the child (image) space in the space hierarchy.	required
child_from_parent	npt.ArrayLike	Row-major intrinsics matrix for projecting from camera space to image space.	required
width	int	Width of the image in pixels.	required
height	int	Height of the image in pixels.	required
timeless	bool	If true, the camera will be timeless (default: False).	False