:vj/NddlZddlZddlmZGddZd dZdZdefd Zy) N)utilceZdZ ddZdZedZejdZedZejdZedZ e jd Z ed Z e jd Z d Z d Z dZ dZy)CameraNc||,dtjdj|_n||_| | t dd|_||_||_|:|jdzjjtj}||_ t||_t||_y)a Create a new Camera object that stores camera intrinsic and extrinsic parameters. TODO: skew is not supported TODO: cx and cy that are not half of width and height Parameters ------------ name : str or None Name for camera to be used as node name resolution : (2,) int Pixel size in (height, width) focal : (2,) float Focal length in pixels. Either pass this OR FOV but not both. focal = (K[0][0], K[1][1]) fov : (2,) float Field of view (fovx, fovy) in degrees z_near : float What is the closest Ncamera_z$either focal length or FOV required!Fg>@)r unique_iduppername ValueError_focal_computedfocalfovroundastypenpint64 resolutionfloatz_farz_near)selfr rrrrrs f/workspace/moltex-experiments/.pixi/envs/default/lib/python3.12/site-packages/trimesh/scene/cameras.py__init__zCamera.__init__ s2 <!$.."3"9"9";!<=DIDI ;5=CD D %   ((T/00299"((CJ$5\ Fm cttj|jtj|jtj|j tj|j S)z: Safely get a copy of the current camera. )r rrr)rcopydeepcopyr rrrrs rrz Camera.copy?sQtyy)}}T__5-- + dhh'   rc|jS)z Get the camera resolution in pixels. Returns ------------ resolution (2,) float Camera resolution in pixels ) _resolutionr s rrzCamera.resolutionJsrctj|tj}|jdk7r t dd|j _||_|jrd|_ yd|_ y)z Set the camera resolution in pixels. Parameters ------------ resolution (2,) float Camera resolution in pixels dtyperzresolution must be (2,) floatFN) r asanyarrayrshaper flags writeabler"r_focal_fovrvaluess rrzCamera.resolutionVs]vRXX6 <<4 <= =!& !   DKDIrc|j]|jdtjtj|j dz zz }d|j _||_|jS)z Get the focal length in pixels for the camera. Returns ------------ focal : (2,) float Focal length in pixels @F)r+r"rtanradiansr,r)r*)rrs rrz Camera.focallsZ ;; $$bffRZZ C5P.Q(QRE$)EKK !DK{{rc|d|_yd|_tj|tj}|j dk7r t dd|j_||_d|_ y)z Set the focal length in pixels for the camera. Returns ------------ focal : (2,) float Focal length in pixels. NFr$r&zfocal length must be (2,) float) r+rrr'float64r(r r)r*r,r-s rrz Camera.focal~s` >DK $)D ]]6 vRZZ8 <<6 !45 5{{6>>+O.>.D -S#TUUC"'CII DIyyrc|d|_yd|_tj|tj}|j dk7r t dd|j_||_d|_ y)z Set the field of view in degrees. Parameters ------------- values : (2,) float Size of FOV to set in degrees NTr$r&zfov length must be (2,) intF) r,rrr'r4r(r r)r*r+r-s rrz Camera.fovs` >DI $(D ]]6??%*FLL "DIDKrct|S)z Calculate ray direction vectors. Will return one ray per pixel, as set in self.resolution. Returns -------------- vectors : (n, 3) float Ray direction vectors in camera frame with z == -1 )camera_to_raysr s rto_rayszCamera.to_rayssd##rc@tjt| S)z Get ray spherical coordinates in radians. Returns -------------- angles : (n, 2) float Ray spherical coordinate angles in radians. )rrCray_pixel_coordsr s ranglesz Camera.anglessyy*40011rc 2t|fd|ji|S)a; Generate transform for a camera to keep a list of points in the camera's field of view. Parameters ------------- points : (n, 3) float Points in space rotation : None, or (4, 4) float Rotation matrix for initial rotation distance : None or float Distance from camera to center center : None, or (3,) float Center of field of view. Returns -------------- transform : (4, 4) float Transformation matrix from world to camera r)look_atr)rpointskwargss rrLzCamera.look_ats*v64886v66rc:d|jd|jS)Nz FOV: z Resolution: )rrr s r__repr__zCamera.__repr__s-dhhZ}T__DUVVr)NNNNg{Gz?g@@)__name__ __module__ __qualname__rrpropertyrsetterrr;rrGrJrLrPrrrrsSY4$l      *" \\2  XX , ,   ZZ2 $ 27.WrrcX|tjd}n%tj|tj}tj|tj}|ddddfj}|j |jj}|.|j ddtj|dzz}n|j |}||z}tjtj|dz } |Stjtj|dddd f| z |ddd fddtjfz}|||z}|ddddfj |} |j} | || ddd fzz| dddf<| S) a Generate transform for a camera to keep a list of points in the camera's field of view. Examples ------------ ```python points = np.array([0, 0, 0], [1, 1, 1]) scene.camera_transform = scene.camera.look_at(points) ``` Parameters ------------- points : (n, 3) float Points in space fov : (2,) float Field of view, in DEGREES rotation : None, or (4, 4) float Rotation matrix for initial rotation distance : None or float Distance from camera to center center : None, or (3,) float Center of field of view. Returns -------------- transform : (4, 4) float Transformation matrix from world to camera Nr$r6r)axisg?r0r)rr:r'r4Tdotminptpr1r2maxabsnewaxisr) rMrrotationdistancecenterpadrinvpoints_ccenter_ctfovcenter_wcam_poses rrLrLs>66!9==< ]]6 4F BQBF   Dxx!##H ~<!RZZ-;XXY CBQB##H-H}}HHRaRUO!;;HRaRUO Orc|j}tj|jdz }tj|}|dd|z z z}| }|\}}|\}}t j ||g||gg|j} t j d|ddz g|ddz dgg|jtj} | j| jk(sJ| | fS)a Get the x-y coordinates of rays in camera coordinates at z == -1. One coordinate pair will be given for each pixel as defined in camera.resolution. If reshaped, the returned array corresponds to pixels of the rendered image. Examples ------------ ```python xy = ray_pixel_coords(camera).reshape( tuple(camera.coordinates) + (2,)) top_left == xy[0, 0] bottom_right == xy[-1, -1] ``` Parameters -------------- camera : trimesh.scene.Camera Camera object to generate rays from Returns -------------- xy : (n, 2) float x-y coordinates of intersection of each camera ray with the z == -1 frame r0r8g?)boundscountr) rrr2rr1r grid_linspacerrr() camerareshalf_fov right_top left_bottomrighttopleftbottomxypixelss rrIrI[s<   Czz&**%+Hx I cCi I*KJE3LD&   s eV_-V5F5F B   CFQJ#a&1*a1 fRXX  88v|| ## # v:rroc t|\}}tjtj|tj |ddddf f}||fS)aC Calculate the trimesh.scene.Camera object to direction vectors. Will return one ray per pixel, as set in camera.resolution. Parameters -------------- camera : trimesh.scene.Camera Returns -------------- vectors : (n, 3) float Ray direction vectors in camera frame with z == -1 Nr8)rIrunitizer column_stack ones_like)rorxryvectorss rrFrFsP "&)JBll2??BbBQBi1H0H+IJKG F?r)NNNN) rnumpyrrrrLrIrFrVrrrs6 KWKW\BJ6r6r