mani_skill.envs.utils.randomization.camera
==========================================

.. py:module:: mani_skill.envs.utils.randomization.camera


Functions
---------

.. autoapisummary::

   mani_skill.envs.utils.randomization.camera.make_camera_rectangular_prism
   mani_skill.envs.utils.randomization.camera.noised_look_at


Module Contents
---------------

.. py:function:: make_camera_rectangular_prism(n, scale=[0.1, 0.1, 0.1], center=[0, 0, 0], theta=0, device=None)

   :param n: number of sampled points within the geometry
   :param scale: [x,y,z] scale for unit cube
   :param center: [x,y,z] scaled unit cube coordinates
   :param theta: [0,2pi] rotation about the z axis


.. py:function:: noised_look_at(eye, target, look_at_noise=0.01, view_axis_rot_noise=0.2, device=None)

   :param eye: mean camera position
   :param target: mean target position
   :param look_at_noise: std of noise added to target in lookat transform
   :param view_axis_rot_noise: std of noise added to rotation about the looking direction