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"cells": [
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"cell_type": "markdown",
"metadata": {},
"source": [
"# Camera Models"
]
},
{
"cell_type": "code",
"execution_count": 1,
"metadata": {},
"outputs": [],
"source": [
"import torch\n",
"from pyrad.cameras import cameras\n",
"import plotly.graph_objects as go\n",
"import mediapy as media"
]
},
{
"cell_type": "code",
"execution_count": 2,
"metadata": {},
"outputs": [],
"source": [
"def vis_camera_rays(camera):\n",
" coords = camera.get_image_coords()\n",
" coords[..., 0] /= camera.get_image_height()\n",
" coords[..., 1] /= camera.get_image_width()\n",
" coords = torch.cat([coords, torch.ones((*coords.shape[:-1], 1))], dim=-1)\n",
"\n",
" print(\"Image UV coordinates\")\n",
" media.show_image(coords, width=400)\n",
"\n",
" ray_bundle = camera.get_camera_ray_bundle()\n",
"\n",
" print(\"Pixel Area\")\n",
" media.show_image(ray_bundle.pixel_area, width=400, cmap=\"hot\")\n",
"\n",
" origins = ray_bundle.origins.view(-1, 3)\n",
" directions = ray_bundle.directions.view(-1, 3)\n",
" coords = coords.view(-1, 3)\n",
"\n",
" lines = torch.empty((origins.shape[0] * 2, 3))\n",
" lines[0::2] = origins\n",
" lines[1::2] = origins + directions\n",
"\n",
" colors = torch.empty((coords.shape[0] * 2, 3))\n",
" colors[0::2] = coords\n",
" colors[1::2] = coords\n",
"\n",
" fig = go.Figure(\n",
" data=go.Scatter3d(\n",
" x=lines[:, 0],\n",
" y=lines[:, 1],\n",
" z=lines[:, 2],\n",
" marker=dict(\n",
" size=4,\n",
" color=colors,\n",
" ),\n",
" line=dict(color=\"lightblue\", width=1),\n",
" )\n",
" )\n",
"\n",
" fig.show()"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## Pinhole Camera Model"
]
},
{
"cell_type": "code",
"execution_count": 3,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"Image UV coordinates\n"
]
},
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"cx = 20\n",
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"source": [
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"width = 30\n",
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"camera = cameras.EquirectangularCamera(height=height, width=width)\n",
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},
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