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fix(spot): anchor camera pixels to their capture-time pose in rerun #4071

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Merged
jeff-hykin merged 2 commits into from
Sep 12, 2026
+14 −5
Merged

fix(spot): anchor camera pixels to their capture-time pose in rerun #4071

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df895c0
fix(spot): anchor camera pixels to their capture-time pose in rerun
jeff-hykin Sep 10, 2026
c6e7622
Update rerun.py
jeff-hykin Sep 11, 2026
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19 changes: 14 additions & 5 deletions dimos/experimental/robot/bosdyn/spot/rerun.py
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Original file line number Diff line number Diff line change
Expand Up @@ -92,14 +92,23 @@ def _tf_to_rerun(tf_message: TFMessage) -> RerunData:


def _camera_info_pinhole(camera_info: CameraInfo, origin: Callable[[str], str]) -> RerunData | None:
"""Re-emit a shared CameraInfo onto its camera's image entity as a Pinhole."""
suffix = _OPTICAL_FRAME_TO_SUFFIX.get(camera_info.frame_id)
if suffix is None:
return None
return camera_info.to_rerun(
image_plane_distance=_FRUSTUM_PLANE_DISTANCE,
image_topic=_camera_entity(origin(suffix)),
)
import rerun as rr

return [
(
_camera_entity(origin(suffix)),
rr.Pinhole(
focal_length=[camera_info.K[0], camera_info.K[4]],
principal_point=[camera_info.K[2], camera_info.K[5]],
width=camera_info.width,
height=camera_info.height,
image_plane_distance=_FRUSTUM_PLANE_DISTANCE,
),
)
]


# Module-level (not closures) so the RerunBridgeModule config stays picklable
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