Method compute

src/sharp/utils/camera.py:321–345

Compute camera for eye position.

(self, eye_pos: torch.Tensor)

        )

    def compute(self, eye_pos: torch.Tensor) -> CameraInfo:
        """Compute camera for eye position."""
        extrinsics = self.screen_extrinsics.clone()

        origin = eye_pos if self.lookat_mode == "ahead" else torch.zeros(3)

        if self.lookat_point is None:
            depth_focus = max(self.min_depth_focus, self.depth_quantiles.focus)
            look_at_position = origin + torch.tensor([0.0, 0.0, depth_focus])
        else:
            look_at_position = origin + torch.tensor([*self.lookat_point])

        world_up = torch.tensor([0.0, -1.0, 0.0])
        extrinsics_modifier = create_camera_matrix(
            eye_pos, look_at_position, world_up, inverse=True
        )
        extrinsics = extrinsics_modifier @ self.screen_extrinsics

        camera_info = CameraInfo(
            intrinsics=self.screen_intrinsics,
            extrinsics=extrinsics,
            width=self.screen_resolution_px[0],
            height=self.screen_resolution_px[1],
        )
        return camera_info

    def set_screen_extrinsics(self, new_value: torch.Tensor) -> None:
        """Modify the default extrinsics."""