mani_skill.utils.structs.render_camera
======================================

.. py:module:: mani_skill.utils.structs.render_camera


Classes
-------

.. autoapisummary::

   mani_skill.utils.structs.render_camera.RenderCamera


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

.. py:class:: RenderCamera

   Wrapper around sapien.render.RenderCameraComponent


   .. py:method:: __hash__()


   .. py:method:: create(render_cameras, scene, mount = None)
      :classmethod:



   .. py:method:: get_extrinsic_matrix()


   .. py:method:: get_far()


   .. py:method:: get_global_pose()


   .. py:method:: get_height()


   .. py:method:: get_intrinsic_matrix()


   .. py:method:: get_local_pose()


   .. py:method:: get_model_matrix()


   .. py:method:: get_name()


   .. py:method:: get_near()


   .. py:method:: get_picture(names)


   .. py:method:: get_projection_matrix()


   .. py:method:: get_skew()


   .. py:method:: get_width()


   .. py:method:: set_far(far)


   .. py:method:: set_focal_lengths(fx, fy)


   .. py:method:: set_fovx(fov, compute_y = True)


   .. py:method:: set_fovy(fov, compute_x = True)


   .. py:method:: set_gpu_pose_batch_index(arg0)


   .. py:method:: set_local_pose(arg0)


   .. py:method:: set_near(near)


   .. py:method:: set_perspective_parameters(near, far, fx, fy, cx, cy, skew)


   .. py:method:: set_principal_point(cx, cy)


   .. py:method:: set_property(name, value)

      change properties of the camera. This is not well documented at the moment and is a heavily overloaded function.

      At the moment you can do this:

      - set_property("toneMapper", value) where value is 0 (gamma), 1 (sRGB), 2 (filmic) change the color management used. Default is 0 (gamma)
      - set_property("exposure", value) where value is the exposure. Default is 1.0



   .. py:method:: set_skew(skew)


   .. py:method:: take_picture()


   .. py:attribute:: _cached_extrinsic_matrix
      :type:  torch.Tensor
      :value: None



   .. py:attribute:: _cached_intrinsic_matrix
      :type:  torch.Tensor
      :value: None



   .. py:attribute:: _cached_local_pose
      :type:  mani_skill.utils.structs.pose.Pose
      :value: None



   .. py:attribute:: _cached_model_matrix
      :type:  torch.Tensor
      :value: None



   .. py:property:: _cuda_buffer


   .. py:attribute:: _render_cameras
      :type:  list[sapien.render.RenderCameraComponent]


   .. py:attribute:: camera_group
      :type:  sapien.render.RenderCameraGroup
      :value: None



   .. py:property:: cx
      :type: float



   .. py:property:: cy
      :type: float



   .. py:property:: far
      :type: float



   .. py:property:: fovx
      :type: float



   .. py:property:: fovy
      :type: float



   .. py:property:: fx
      :type: float



   .. py:property:: fy
      :type: float



   .. py:property:: global_pose
      :type: sapien.Pose



   .. py:property:: height
      :type: int



   .. py:property:: local_pose
      :type: sapien.Pose



   .. py:attribute:: mount
      :type:  Union[mani_skill.utils.structs.actor.Actor, mani_skill.utils.structs.link.Link]
      :value: None



   .. py:attribute:: name
      :type:  str


   .. py:property:: near
      :type: float



   .. py:attribute:: scene
      :type:  Any


   .. py:property:: skew
      :type: float



   .. py:property:: width
      :type: int