camera.py
rerun.log.camera
def log_pinhole(entity_path, *, child_from_parent, width, height, timeless=False, recording=None)
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
|
recording |
Optional[RecordingStream]
|
Specifies the |
None
|