(4,4) float: A homogenous rigid transform matrix mapping world coordinates to camera coordinates. Equivalent to the OpenGL View matrix. Note that the OpenGL camera coordinate system has x to the right, y up, and z away from the scene towards the eye!
(self)
| 79 | |
| 80 | @property |
| 81 | def V(self): |
| 82 | """(4,4) float: A homogenous rigid transform matrix mapping world coordinates |
| 83 | to camera coordinates. Equivalent to the OpenGL View matrix. |
| 84 | |
| 85 | Note that the OpenGL camera coordinate system has x to the right, y up, and z away |
| 86 | from the scene towards the eye! |
| 87 | """ |
| 88 | T_camera_world_GL = self.T_camera_world.matrix.copy() |
| 89 | T_camera_world_GL[:3,2] = -T_camera_world_GL[:3,2] # Reverse Z axis |
| 90 | T_camera_world_GL[:3,1] = -T_camera_world_GL[:3,1] # Reverse Y axis; |
| 91 | T_world_camera_GL = np.linalg.inv(T_camera_world_GL) |
| 92 | return T_world_camera_GL |
| 93 | |
| 94 | @property |
| 95 | def P(self): |