Construct lookat view matrix.
(lookdir: np.ndarray, up: np.ndarray,
position: np.ndarray)
| 57 | return cam2world |
| 58 | |
| 59 | def viewmatrix(lookdir: np.ndarray, up: np.ndarray, |
| 60 | position: np.ndarray) -> np.ndarray: |
| 61 | """Construct lookat view matrix.""" |
| 62 | vec2 = normalize(lookdir) |
| 63 | vec0 = normalize(np.cross(up, vec2)) |
| 64 | vec1 = normalize(np.cross(vec2, vec0)) |
| 65 | m = np.stack([vec0, vec1, vec2, position], axis=1) |
| 66 | return m |
| 67 | |
| 68 | def focus_point_fn(poses: np.ndarray) -> np.ndarray: |
| 69 | """Calculate nearest point to all focal axes in poses.""" |
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