Mi/RSSKrSSKrSSKJr "SS5rS SjrSrS\4S jrg) N)utilc\rSrSrSSjrSr\S5r\RS5r\S5r \ RS5r \S 5r \ RS 5r \S 5r \ RS 5r S r Sr SrSrSrg)CameraNc~Uc-S[R"S5R53UlOXlUcUc [ S5eSUlX0lX@lUc:URS-R5R[R5nX l [U5Ul[U5Ulg)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$either focal length or FOV required!Fg>@)r unique_iduppername ValueError_focal_computedfocalfovroundastypenpint64 resolutionfloatz_farz_near)selfr rrrrrs o/var/www/eduai.edurigo.com/storigo/production/storigo_env/lib/python3.13/site-packages/trimesh/scene/cameras.py__init__Camera.__init__ s2 <!$.."3"9"9";!<=DII ;5=CD D %   ((T/00299"((CJ$5\ Fm c [[R"UR5[R"UR5[R"UR 5[R"UR 5S9$)z* Safely get a copy of the current camera. )r rrr)rcopydeepcopyr rrrrs rr Camera.copy?sQtyy)}}T__5-- + dhh'   rcUR$)zp Get the camera resolution in pixels. Returns ------------ resolution (2,) float Camera resolution in pixels ) _resolutionr"s rrCamera.resolutionJsrc[R"U[RS9nURS:wa [ S5eSUR lXlUR(aSUl gSUl g)zs Set the camera resolution in pixels. Parameters ------------ resolution (2,) float Camera resolution in pixels dtyperzresolution must be (2,) floatFN) r asanyarrayrshaperflags writeabler%r_focal_fovrvaluess rrr&Vs[vRXX6 <<4 <= =!& !   DKDIrcURc^URS[R"[R"UR S- 55-- nSUR lXlUR$)zr Get the focal length in pixels for the camera. Returns ------------ focal : (2,) float Focal length in pixels @F)r/r%rtanradiansr0r-r.)rrs rr Camera.focallsX ;; $$bffRZZ C5P.Q(QRE$)EKK !K{{rcUcSUlgSUl[R"U[RS9nUR S:wa [ S5eSURlXlSUl g)zs 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.r0r1s rrr7~s^ >DK $)D ]]6r) rr+r9r,rallcloseflattenrrr1s rr@rAs > vRZZ8 <<6 !45 5{{6>>+O.>.D -S#TUUC"'CII IyyrcUcSUlgSUl[R"U[RS9nUR S:wa [ S5eSURlXlSUl g)zq 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) r0rrr+r9r,rr-r.r/r1s rrrIs^ >DI $(D ]]6??%*FLL "IDKrc[U5$)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_raysCamera.to_rayssd##rcB[R"[U5*5$)z Get ray spherical coordinates in radians. Returns -------------- angles : (n, 2) float Ray spherical coordinate angles in radians. )rrHray_pixel_coordsr"s rangles Camera.anglessyy*40011rc 2[U4SUR0UD6$)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 rrTCamera.look_ats*v64886v66rc:SURSUR3$)Nz FOV: z Resolution: )rrr"s r__repr__Camera.__repr__s-dhhZ}T__DUVVr) r/rr0r%rrr rrr)NNNNg{Gz?g@@)__name__ __module__ __qualname____firstlineno__rr propertyrsetterrr@rrMrQrTrY__static_attributes__rrrrsSY4$l      *" \\2  XX , ,   ZZ2 $ 27.WrrcRUc[R"S5nO#[R"U[RS9n[R"U[RS9nUSS2SS24RnUR UR5RnUc)UR SS9S[R"USS9--nOUR U5nXx-n[R"[R"U5S- 5n UcU[R"[R"USS2SS 245U - USS2S 4SS2[R4-5nUbX5-nUSS2SS24R U5n UR5n XU SS2S 4--U SS2S4'U $) ac Generate transform for a camera to keep a list of points in the camera's field of view. Examples ------------ ```python points = np.array([0, 0, 0], [1, 1, 1]) scene.camera_transform = scene.camera.look_at(points) ``` Parameters ------------- points : (n, 3) float Points in space fov : (2,) float Field of view, in DEGREES rotation : None, or (4, 4) float Rotation matrix for initial rotation distance : None or float Distance from camera to center center : None, or (3,) float Center of field of view. Returns -------------- transform : (4, 4) float Transformation matrix from world to camera Nr(r;r)axisg?r4r)rr?r+r9Tdotminptpr5r6maxabsnewaxisr ) rUrrotationdistancecenterpadrinvpoints_ccenter_ctfovcenter_wcam_poses rrTrTs>66!9==< ]]6 4F BQBF   Dxx!##H ~<!RZZ-;XXY BQB##H-H}}HHRaRUO!;;HRaRUO OrcURn[R"UR5S- n[R"U5nUSSU- - -nU*nUupVUupx[ R "Xv/XX//URS9n [ R "SUSS- /USS- S//US9R[R5n U RU R:XdeX4$)aZ 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 r4r=g?)boundscountr) rrr6rr5r grid_linspacerrr,) camerareshalf_fov right_top left_bottomrighttopleftbottomxypixelss rrPrP[s<   Czz&**%+Hx I cCi I*KJELD    e_-V5F5F B   CFQJ#a&1*a1 fRXX  88v|| ## # :rr{c [U5up[R"[R"U[R "USS2SS245*455nX24$)a 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=)rPrunitizer column_stack ones_like)r{rrvectorss rrLrLsL "&)JBll2??BbBQBi1H0H+IJKG ?r)NNNN) r numpyrrrrTrPrLrbrrrs6 KWKW\BJ6r6r