mani_skill.utils.structs.render_camera#

Classes#

RenderCamera

Wrapper around sapien.render.RenderCameraComponent

Module Contents#

class mani_skill.utils.structs.render_camera.RenderCamera[source]#

Wrapper around sapien.render.RenderCameraComponent

__hash__()[source]#
classmethod create(render_cameras, scene, mount=None)[source]#
Parameters:
get_extrinsic_matrix()[source]#
get_far()[source]#
Return type:

float

get_global_pose()[source]#
Return type:

mani_skill.utils.structs.pose.Pose

get_height()[source]#
Return type:

int

get_intrinsic_matrix()[source]#
get_local_pose()[source]#
Return type:

mani_skill.utils.structs.pose.Pose

get_model_matrix()[source]#
get_name()[source]#
Return type:

str

get_near()[source]#
Return type:

float

get_picture(names)[source]#
Parameters:

names (Union[str, list[str]])

Return type:

list[torch.Tensor]

get_projection_matrix()[source]#
get_skew()[source]#
Return type:

float

get_width()[source]#
Return type:

int

set_far(far)[source]#
Parameters:

far (float)

Return type:

None

set_focal_lengths(fx, fy)[source]#
Parameters:

  • fx (float)

  • fy (float)

Return type:

None

set_fovx(fov, compute_y=True)[source]#
Parameters:

  • fov (float)

  • compute_y (bool)

Return type:

None

set_fovy(fov, compute_x=True)[source]#
Parameters:

  • fov (float)

  • compute_x (bool)

Return type:

None

set_gpu_pose_batch_index(arg0)[source]#
Parameters:

arg0 (int)

Return type:

None

set_local_pose(arg0)[source]#
Parameters:

arg0 (sapien.Pose)

Return type:

None

set_near(near)[source]#
Parameters:

near (float)

Return type:

None

set_perspective_parameters(near, far, fx, fy, cx, cy, skew)[source]#
Parameters:

  • near (float)

  • far (float)

  • fx (float)

  • fy (float)

  • cx (float)

  • cy (float)

  • skew (float)

Return type:

None

set_principal_point(cx, cy)[source]#
Parameters:

  • cx (float)

  • cy (float)

Return type:

None

set_property(name, value)[source]#

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

Parameters:

  • name (str)

  • value (Any)

Return type:

None

set_skew(skew)[source]#
Parameters:

skew (float)

Return type:

None

take_picture()[source]#
Return type:

None

_cached_extrinsic_matrix: torch.Tensor = None[source]#
_cached_intrinsic_matrix: torch.Tensor = None[source]#
_cached_local_pose: mani_skill.utils.structs.pose.Pose = None[source]#
_cached_model_matrix: torch.Tensor = None[source]#
property _cuda_buffer[source]#
_render_cameras: list[sapien.render.RenderCameraComponent][source]#
camera_group: sapien.render.RenderCameraGroup = None[source]#
property cx: float[source]#
Return type:

float

property cy: float[source]#
Return type:

float

property far: float[source]#
Return type:

float

property fovx: float[source]#
Return type:

float

property fovy: float[source]#
Return type:

float

property fx: float[source]#
Return type:

float

property fy: float[source]#
Return type:

float

property global_pose: mani_skill.utils.structs.pose.Pose[source]#
Return type:

mani_skill.utils.structs.pose.Pose

property height: int[source]#
Return type:

int

property local_pose: sapien.Pose[source]#
Return type:

sapien.Pose

mount: mani_skill.utils.structs.actor.Actor | mani_skill.utils.structs.link.Link = None[source]#
name: str[source]#
property near: float[source]#
Return type:

float

scene: Any[source]#
property skew: float[source]#
Return type:

float

property width: int[source]#
Return type:

int