diff --git a/src/xrt/auxiliary/util/u_pretty_print.c b/src/xrt/auxiliary/util/u_pretty_print.c
index 6faa152cf..69e5213f7 100644
--- a/src/xrt/auxiliary/util/u_pretty_print.c
+++ b/src/xrt/auxiliary/util/u_pretty_print.c
@@ -10,6 +10,7 @@
 #include "util/u_misc.h"
 #include "util/u_pretty_print.h"
 
+#include <assert.h>
 #include <string.h>
 #include <stdarg.h>
 #include <stdio.h>
@@ -359,6 +360,27 @@ u_pp_small_matrix_4x4_f64(u_pp_delegate_t dg, const struct xrt_matrix_4x4_f64 *m
 	     m->v[3], m->v[7], m->v[11], m->v[15]); //
 }
 
+void
+u_pp_small_array_f64(struct u_pp_delegate dg, const double *arr, size_t n)
+{
+	assert(n != 0);
+	DG("[");
+	for (size_t i = 0; i < n - 1; i++) {
+		u_pp(dg, "%lf, ", arr[i]);
+	}
+	u_pp(dg, "%lf]", arr[n - 1]);
+}
+
+void
+u_pp_small_array2d_f64(struct u_pp_delegate dg, const double *arr, size_t n, size_t m)
+{
+	DG("[\n");
+	for (size_t i = 0; i < n; i++) {
+		u_pp_small_array_f64(dg, &arr[i], m);
+	}
+	DG("\n]");
+}
+
 void
 u_pp_vec3(u_pp_delegate_t dg, const struct xrt_vec3 *vec, const char *name, const char *indent)
 {
@@ -425,6 +447,20 @@ u_pp_matrix_4x4_f64(u_pp_delegate_t dg, const struct xrt_matrix_4x4_f64 *m, cons
 	     indent);                                      //
 }
 
+void
+u_pp_array_f64(u_pp_delegate_t dg, const double *arr, size_t n, const char *name, const char *indent)
+{
+	u_pp(dg, "\n%s%s = ", indent, name);
+	u_pp_small_array_f64(dg, arr, n);
+}
+
+void
+u_pp_array2d_f64(u_pp_delegate_t dg, const double *arr, size_t n, size_t m, const char *name, const char *indent)
+{
+	u_pp(dg, "\n%s%s = ", indent, name);
+	u_pp_small_array2d_f64(dg, arr, n, m);
+}
+
 
 /*
  *
diff --git a/src/xrt/auxiliary/util/u_pretty_print.h b/src/xrt/auxiliary/util/u_pretty_print.h
index c489fc552..343aef2ad 100644
--- a/src/xrt/auxiliary/util/u_pretty_print.h
+++ b/src/xrt/auxiliary/util/u_pretty_print.h
@@ -98,6 +98,8 @@ u_pp_xrt_result(struct u_pp_delegate dg, xrt_result_t xret);
  * the other functions does. This is so that you can easily chain print
  * functions to print a struct.
  *
+ * @note xrt_matrix_* parameters assumed to be column major.
+ *
  * @ingroup aux_pretty
  * @{
  */
@@ -116,6 +118,12 @@ u_pp_small_matrix_4x4(u_pp_delegate_t dg, const struct xrt_matrix_4x4 *m);
 void
 u_pp_small_matrix_4x4_f64(u_pp_delegate_t dg, const struct xrt_matrix_4x4_f64 *m);
 
+void
+u_pp_small_array_f64(struct u_pp_delegate dg, const double *arr, size_t n);
+
+void
+u_pp_small_array2d_f64(struct u_pp_delegate dg, const double *arr, size_t n, size_t m);
+
 void
 u_pp_vec3(u_pp_delegate_t dg, const struct xrt_vec3 *vec, const char *name, const char *indent);
 
@@ -130,6 +138,15 @@ u_pp_matrix_4x4(u_pp_delegate_t dg, const struct xrt_matrix_4x4 *m, const char *
 
 void
 u_pp_matrix_4x4_f64(u_pp_delegate_t dg, const struct xrt_matrix_4x4_f64 *m, const char *name, const char *indent);
+
+//! Pretty prints `double arr[n]`
+void
+u_pp_array_f64(u_pp_delegate_t dg, const double *arr, size_t n, const char *name, const char *indent);
+
+//! Pretty prints `double arr[n][m]`
+void
+u_pp_array2d_f64(u_pp_delegate_t dg, const double *arr, size_t n, size_t m, const char *name, const char *indent);
+
 /*!
  * @}
  */