I'll answer to your question giving to you the concrete calculation of the magnetic field seen by an observer when a point charge moves with a velocity $v$, and for simplicity i'll make it a straight-line path.
First of all, the electromagnetic field is given by a rank $2$ tensor, the EM-tensor $F^{\mu\nu}$. Being a tensor, under a Lorentz transformation, transforms as
$$ F^{\prime\mu\nu} = \frac{\partial x^{\prime\mu}}{\partial x^\alpha}\frac{\partial x^{\prime\nu}}{\partial x^\beta} F^{\alpha\beta} $$
Taking the simplest Lorentz transformation, a boost along the $x$-axis, you can easily see that the components of the electric and magnetic field, in the frame $K^\prime$ mix in this way
$$
E_x^\prime = E_x \qquad B_x^\prime = B_x\\
E_y^\prime = \gamma(E_y-\beta B_z) \qquad B_y^\prime = \gamma(B_y+\beta E_z)\\
E_z^\prime = \gamma(E_z+\beta B_y) \qquad B_z^\prime = \gamma(B_z-\beta E_y)
$$
From this we find the illuminating fact that in a frame where the charge is moving, you'll measure a magnetic field as well as an electric field. In fact suppose that the charge $q$, centred in the frame $K^\prime$, is moving along the $x$-axis with a velocity $v$, and the distance of closest approach to the observer is $b$. Morover suppose that the two frames coincide at time $t=t^\prime=0$. Name the point at which the observes measures the fields in his frame $P$ which has coordinates in the moving frame $$P^\prime = (-vt^\prime, b, 0) $$ and it's at a distance $$r^\prime = \sqrt{b^2+(vt^\prime)^2} $$
The electric field in the frame of the charge is clearly
$$ E_x^\prime = -\frac{qvt^\prime}{r^{\prime 3}}\qquad E_y^\prime = \frac{qb}{r^{\prime 3}} \qquad E_z^\prime = 0$$
the magnetic field is zero everywhere. Using Lorentz transformation we can write this fields in the coordinate of the frame $K$
$$
E_x^\prime = -\frac{q\gamma vt}{(b^2+\gamma^2 v^2 t^2)^{3/2}} \\
E_y^\prime = \frac{qb}{(b^2+\gamma^2 v^2 t^2)^{3/2}}
$$
Then, by using the field transformation found before we get our searched result
$$
E_x = E_x^\prime = -\frac{q\gamma vt}{(b^2+\gamma^2 v^2 t^2)^{3/2}}\\
E_y = \gamma E_y^\prime = \frac{\gamma qb}{(b^2+\gamma^2 v^2 t^2)^{3/2}}\\
\color{red}{B_z = \gamma\beta E_y^\prime = \beta E_y} = \frac{\beta\gamma qb}{(b^2+\gamma^2 v^2 t^2)^{3/2}}
$$
And here you go
A person in a frame $K$ at rest with respect to a uniformly moving charge, whose frame is $K^\prime$, will measure a magnetic field as well as an electric field.
A more in depth treatment of the subject can be found on Jackson's book, obviously!