Pistorius' trial is set to start on 3 March 2014.
The application to film the proceedings was brought by news channel eNCA, joined by media houses MultiChoice and Eyewitness News.
Judge Mlambo approved media's application to broadcast but with strict conditions. Media will be allowed to broadcast the opening argument for the State and defence, expert evidence, testimony of police and all consenting State witnesses
He said there will be no close-ups and recording of private conversations.
Mlambo permitted the use of small, unmanned spy cameras to be fitted in the courtroom. The cameras will be installed where they will not interfere with proceedings.
There will be no recordings of personal legal discussions and no recordings when court is not session.
Pistorius is accused of murdering his girlfriend Reeva Steenkamp on 14 February 2013 at his home in the east of Pretoria.
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