trimesh.scene.cameras¶

class trimesh.scene.cameras.Camera(name=None, resolution=None, focal=None, fov=None, z_near=0.01, z_far=1000.0)¶

Bases: object

property K¶

Get the intrinsic matrix for the Camera object.

Returns:: K – Intrinsic matrix for camera
Return type:: (3, 3) float

__init__(name=None, resolution=None, focal=None, fov=None, z_near=0.01, z_far=1000.0)¶

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

angles()¶

Get ray spherical coordinates in radians.

Returns:: angles – Ray spherical coordinate angles in radians.
Return type:: (n, 2) float

copy()¶: Safely get a copy of the current camera.

property focal¶

Get the focal length in pixels for the camera.

Returns:: focal – Focal length in pixels
Return type:: (2,) float

property fov¶

Get the field of view in degrees.

Returns:: fov – XY field of view in degrees
Return type:: (2,) float

look_at(points, **kwargs)¶

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 – Transformation matrix from world to camera

Return type:

(4, 4) float

property resolution¶

Get the camera resolution in pixels.

Returns:: Camera resolution in pixels
Return type:: resolution (2,) float

to_rays()¶

Calculate ray direction vectors.

Will return one ray per pixel, as set in self.resolution.

Returns:: vectors – Ray direction vectors in camera frame with z == -1
Return type:: (n, 3) float

trimesh.scene.cameras.camera_to_rays(camera: Camera)¶

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 – Ray direction vectors in camera frame with z == -1
Return type:: (n, 3) float

trimesh.scene.cameras.look_at(points, fov, rotation=None, distance=None, center=None, pad=None)¶

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 – Transformation matrix from world to camera

Return type:

(4, 4) float

trimesh.scene.cameras.ray_pixel_coords(camera)¶

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 – x-y coordinates of intersection of each camera ray with the z == -1 frame
Return type:: (n, 2) float