Abhishek Joshi
38 lines
1.2 KiB
Python
38 lines
1.2 KiB
Python
from typing import List, Optional, Tuple
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import utils as utils_component
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import numpy as np
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from pxr import Gf
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from pxr import Usd
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from pxr import UsdGeom
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class USDCamera:
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def __init__(self, stage: Usd.Stage, obj_name: str):
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self.stage = stage
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xform_path = f"/World/Camera_Xform_{obj_name}"
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camera_path = f"{xform_path}/Camera_{obj_name}"
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self.usd_xform = UsdGeom.Xform.Define(stage, xform_path)
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self.usd_camera = UsdGeom.Camera.Define(stage, camera_path)
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self.usd_prim = stage.GetPrimAtPath(camera_path)
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# defining ops required by update function
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self.transform_op = self.usd_xform.AddTransformOp()
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# self.usd_camera.CreateFocalLengthAttr().Set(18.14756) # default in omniverse
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self.usd_camera.CreateFocalLengthAttr().Set(12)
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self.usd_camera.CreateFocusDistanceAttr().Set(400)
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self.usd_camera.GetHorizontalApertureAttr().Set(12)
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self.usd_camera.GetClippingRangeAttr().Set(Gf.Vec2f(1e-4, 1e6))
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def update(self, cam_pos: np.ndarray, cam_mat: np.ndarray, frame: int):
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transformation_mat = utils_component.create_transform_matrix(
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rotation_matrix=cam_mat, translation_vector=cam_pos
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).T
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self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame) |