class

GS::GaussianSplatting::Camera

Inherits Reference < Object

Full camera with pose

Constructors

new(intrinsics : CameraIntrinsics)
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Instance methods

camera_to_world
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camera_to_world=(camera_to_world : Tensor)
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forward

Get camera forward direction in world coordinates

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full_projection_matrix(near : Float32 = 0.1_f32, far : Float32 = 100.0_f32) : Tensor

Full projection matrix (4x4) for rendering Projects from world space to clip space

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height
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image

Optional: associated image for training

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image=(image : Tensor | Nil)

Optional: associated image for training

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image_path
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image_path=(image_path : String | Nil)
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intrinsics
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intrinsics=(intrinsics : CameraIntrinsics)
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look_at(eye : Tuple(Float32, Float32, Float32), target : Tuple(Float32, Float32, Float32), up : Tuple(Float32, Float32, Float32) = {0.0_f32, 1.0_f32, 0.0_f32}) : Nil

Set camera pose from position and look-at point

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position

Get camera position in world coordinates

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project(point_world : Tuple(Float32, Float32, Float32)) : Tuple(Float32, Float32, Float32) | Nil

Project 3D point to 2D

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set_camera_to_world(matrix : Tensor) : Nil

Set from camera_to_world matrix directly

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set_world_to_camera(matrix : Tensor) : Nil

Set from world_to_camera matrix directly

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width

Width and height shortcuts

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world_to_camera

Camera extrinsics world_to_camera: transforms world coordinates to camera coordinates camera_to_world: transforms camera coordinates to world coordinates (camera pose)

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world_to_camera=(world_to_camera : Tensor)

Camera extrinsics world_to_camera: transforms world coordinates to camera coordinates camera_to_world: transforms camera coordinates to world coordinates (camera pose)

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