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‎rerun_py/rerun_sdk/rerun/archetypes/pinhole_ext.py‎

Lines changed: 66 additions & 66 deletions
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import math
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from typing import TYPE_CHECKING, Any, cast
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from ..datatypes import Mat3x3Like, Vec2D, Vec2DLike, ViewCoordinatesLike, Rgba32Like, Float32Like
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from ..datatypes import Float32Like, Mat3x3Like, Rgba32Like, Vec2D, Vec2DLike, ViewCoordinatesLike
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from ..error_utils import _send_warning_or_raise, catch_and_log_exceptions
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if TYPE_CHECKING:
@@ -30,71 +30,71 @@ def __init__(
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line_width: Float32Like | None = None,
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) -> None:
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"""
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Create a new instance of the Pinhole archetype.
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Parameters
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----------
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image_from_camera:
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Row-major intrinsics matrix for projecting from camera space to image space.
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The first two axes are X=Right and Y=Down, respectively.
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Projection is done along the positive third (Z=Forward) axis.
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This can be specified _instead_ of `focal_length` and `principal_point`.
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resolution:
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Pixel resolution (usually integers) of child image space. Width and height.
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`image_from_camera` projects onto the space spanned by `(0,0)` and `resolution - 1`.
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camera_xyz:
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Sets the view coordinates for the camera.
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All common values are available as constants on the `components.ViewCoordinates` class.
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The default is `ViewCoordinates.RDF`, i.e. X=Right, Y=Down, Z=Forward, and this is also the recommended setting.
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This means that the camera frustum will point along the positive Z axis of the parent space,
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and the cameras "up" direction will be along the negative Y axis of the parent space.
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The camera frustum will point whichever axis is set to `F` (or the opposite of `B`).
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When logging a depth image under this entity, this is the direction the point cloud will be projected.
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With `RDF`, the default forward is +Z.
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The frustum's "up" direction will be whichever axis is set to `U` (or the opposite of `D`).
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This will match the negative Y direction of pixel space (all images are assumed to have xyz=RDF).
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With `RDF`, the default is up is -Y.
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The frustum's "right" direction will be whichever axis is set to `R` (or the opposite of `L`).
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This will match the positive X direction of pixel space (all images are assumed to have xyz=RDF).
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With `RDF`, the default right is +x.
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Other common formats are `RUB` (X=Right, Y=Up, Z=Back) and `FLU` (X=Forward, Y=Left, Z=Up).
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NOTE: setting this to something else than `RDF` (the default) will change the orientation of the camera frustum,
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and make the pinhole matrix not match up with the coordinate system of the pinhole entity.
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The pinhole matrix (the `image_from_camera` argument) always project along the third (Z) axis,
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but will be re-oriented to project along the forward axis of the `camera_xyz` argument.
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focal_length:
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The focal length of the camera in pixels.
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This is the diagonal of the projection matrix.
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Set one value for symmetric cameras, or two values (X=Right, Y=Down) for anamorphic cameras.
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principal_point:
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The center of the camera in pixels.
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The default is half the width and height.
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This is the last column of the projection matrix.
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Expects two values along the dimensions Right and Down
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width:
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Width of the image in pixels.
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height:
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Height of the image in pixels.
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fov_y:
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Vertical field of view in radians.
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aspect_ratio
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Aspect ratio (width/height).
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image_plane_distance:
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The distance from the camera origin to the image plane when the projection is shown in a 3D viewer.
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This is only used for visualization purposes, and does not affect the projection itself.
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color:
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Color of the camera frustum lines in the 3D viewer.
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line_width:
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Width of the camera frustum lines in the 3D viewer.
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Ū
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Create a new instance of the Pinhole archetype.
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Parameters
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----------
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image_from_camera:
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Row-major intrinsics matrix for projecting from camera space to image space.
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The first two axes are X=Right and Y=Down, respectively.
40+
Projection is done along the positive third (Z=Forward) axis.
41+
This can be specified _instead_ of `focal_length` and `principal_point`.
42+
resolution:
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Pixel resolution (usually integers) of child image space. Width and height.
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`image_from_camera` projects onto the space spanned by `(0,0)` and `resolution - 1`.
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camera_xyz:
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Sets the view coordinates for the camera.
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All common values are available as constants on the `components.ViewCoordinates` class.
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50+
The default is `ViewCoordinates.RDF`, i.e. X=Right, Y=Down, Z=Forward, and this is also the recommended setting.
51+
This means that the camera frustum will point along the positive Z axis of the parent space,
52+
and the cameras "up" direction will be along the negative Y axis of the parent space.
53+
54+
The camera frustum will point whichever axis is set to `F` (or the opposite of `B`).
55+
When logging a depth image under this entity, this is the direction the point cloud will be projected.
56+
With `RDF`, the default forward is +Z.
57+
58+
The frustum's "up" direction will be whichever axis is set to `U` (or the opposite of `D`).
59+
This will match the negative Y direction of pixel space (all images are assumed to have xyz=RDF).
60+
With `RDF`, the default is up is -Y.
61+
62+
The frustum's "right" direction will be whichever axis is set to `R` (or the opposite of `L`).
63+
This will match the positive X direction of pixel space (all images are assumed to have xyz=RDF).
64+
With `RDF`, the default right is +x.
65+
66+
Other common formats are `RUB` (X=Right, Y=Up, Z=Back) and `FLU` (X=Forward, Y=Left, Z=Up).
67+
68+
NOTE: setting this to something else than `RDF` (the default) will change the orientation of the camera frustum,
69+
and make the pinhole matrix not match up with the coordinate system of the pinhole entity.
70+
71+
The pinhole matrix (the `image_from_camera` argument) always project along the third (Z) axis,
72+
but will be re-oriented to project along the forward axis of the `camera_xyz` argument.
73+
focal_length:
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The focal length of the camera in pixels.
75+
This is the diagonal of the projection matrix.
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Set one value for symmetric cameras, or two values (X=Right, Y=Down) for anamorphic cameras.
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principal_point:
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The center of the camera in pixels.
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The default is half the width and height.
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This is the last column of the projection matrix.
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Expects two values along the dimensions Right and Down
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width:
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Width of the image in pixels.
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height:
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Height of the image in pixels.
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fov_y:
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Vertical field of view in radians.
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aspect_ratio
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Aspect ratio (width/height).
90+
image_plane_distance:
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The distance from the camera origin to the image plane when the projection is shown in a 3D viewer.
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This is only used for visualization purposes, and does not affect the projection itself.
93+
color:
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Color of the camera frustum lines in the 3D viewer.
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line_width:
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Width of the camera frustum lines in the 3D viewer.
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"""
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with catch_and_log_exceptions(context=self.__class__.__name__):

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