Ti/VddlZddlZddlmZGddZd dZdZdefd ZdS) N)utilceZdZ ddZdZedZejdZedZejd Zed Z e jd Z ed Z e jd Z dZ dZ dZ dZdS)CameraN{Gz?@@c|/dtjd|_n||_||t dd|_||_||_|9|jdz tj }||_ t||_t||_dS)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$either focal length or FOV required!Fg>@)r unique_iduppername ValueError_focal_computedfocalfovroundastypenpint64 resolutionfloatz_farz_near)selfrrrrrrs O/DATA/AppData/hermes/venv/lib/python3.11/site-packages/trimesh/scene/cameras.py__init__zCamera.__init__ s2 <=$."3"3"9"9";";==DIIDI ;5=CDD D %   (T/002299"(CCJ$5\\ Fmm cttj|jtj|jtj|jtj|jS)z: Safely get a copy of the current camera. )rrrr)rcopydeepcopyrrrrrs rr z Camera.copy?sWty))}T_55- ++ dh''     rc|jS)z Get the camera resolution in pixels. Returns ------------ resolution (2,) float Camera resolution in pixels ) _resolutionr"s rrzCamera.resolutionJs rctj|tj}|jdkrt dd|j_||_|jr d|_ dSd|_ dS)z Set the camera resolution in pixels. Parameters ------------ resolution (2,) float Camera resolution in pixels dtyperzresolution must be (2,) floatFN) r asanyarrayrshaperflags writeabler$r_focal_fovrvaluess rrzCamera.resolutionVskvRX666 <4  <== =!& !   DKKKDIIIrc|jL|jdtjtj|jdz zz }d|j_||_|jS)z Get the focal length in pixels for the camera. Returns ------------ focal : (2,) float Focal length in pixels N@F)r-r$rtanradiansr.r+r,)rrs rrz Camera.focallsQ ; $bfRZ C5P5P.Q.Q(QRE$)EK !DK{rc| d|_dSd|_tj|tj}|jdkrt dd|j_||_d|_ dS)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*rr+r,r.r/s rrz Camera.focal~sl >DKKK $)D ]6<< FvRZ888 <6 ! !455 5{6>>++OOO.D -S#T#TUUUC"'CI DIyrc| d|_dSd|_tj|tj}|jdkrt dd|j_||_d|_ dS)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)r6r*rr+r,r-r/s rrz Camera.fovsl >DIII $(D ]6<<???%*FL "DIDKKKrc t|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###rcFtjt| S)z Get ray spherical coordinates in radians. Returns -------------- angles : (n, 2) float Ray spherical coordinate angles in radians. )rrEray_pixel_coordsr"s ranglesz Camera.angless y*4000111rc *t|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 rrNzCamera.look_ats!*v66486v666rc&d|jd|jS)Nz FOV: z Resolution: )rrr"s r__repr__zCamera.__repr__sVdhVVT_VVVr)NNNNrr)__name__ __module__ __qualname__rr propertyrsetterrr=rrIrLrNrRrrrrs^SY4$4$4$4$l       X  *X" \\2  X X , ,X ,  X  ZZ2 $ $ $ 2 2 2777.WWWWWrrc^|tjd}n tj|tj}tj|tj}|ddddfj}||jj}|1|ddtj|dzz}n||}||z}tjtj |dz } |Vtj tj |dddd f| z |ddd fddtj fz}|||z}|ddddf|} | } | || 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&r8r)axisg?r2r)rr<r)r6Tdotminptpr3r4maxabsnewaxisr ) rOrrotationdistancecenterpadrinvpoints_ccenter_ctfovcenter_wcam_poses rrNrNs>6!99=<<< ]6 4 4 4F BQBF  Dxx!!#H ~<!!!RZ-;XXYY CBQB##H--H}}HHRaRUO!;;HRaRUO Orc|j}tj|jdz }tj|}|dd|z z z}| }|\}}|\}}t j||g||gg|j} t jd|ddz g|ddz dgg|tj} | j | j ksJ| | 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 r2r:g?)boundscountr) rrr4rr3r grid_linspacerrr*) camerareshalf_fov right_top left_bottomrighttopleftbottomxypixelss rrKrK[s<  Cz&*%%+Hx  I cCi I*KJE3LD&  s eV_-V5F   B  CFQJ#a&1*a1 fRX  8v| # # # # v:rrqc 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 Nr:)rKrunitizer column_stack ones_like)rqrzr{vectorss rrHrHsZ "&))JBl2?BbBQBi1H1H0H+IJJKKG F?r)NNNN) r numpyrrrrNrKrHrXrrrs KWKWKWKWKWKWKWKW\BBBBJ666r6r