Rendering

Camera(projection, intrinsics::CameraIntrinsics)

Camera maintains original focal length, since the model was trained on a specific value of it, thus we want to preserve the original aspect.

Arguments:

• projection::MMatrix{3, 4, Float32}: Camera-to-world projection.
• intrinsics::CameraIntrinsics: Camera intrinsics.
• original_focal::SVector{2, Float32}: Original focal length. Used during camera resizing to preserve original focal length aspect ratio.
• original_resolution::SVector{2, UInt32}: Original resolution. Used during camera resizing to compute scale value to multiply with original_focal.

set_resolution!(c::Camera; width::Int, height::Int)

Change resolution of the camera. Preserves original focal length aspect, scaling it instead.

shift!(c::Camera, relative)

Shift camera position by a relative value.

rotate!(c::Camera, rotation)

Apply rotation to the camera.

Camera intrinsics for projecting from pixel to camera space.

Projection is done as follows: ((x, y) .- principal) ./ focal. Followed by undistortion if any.

Arguments:

• distortion::Maybe{SVector{4, Float32}}: If no distortion, then nothing.
• focal::SVector{2, Float32}: Focal length in (fx, fy) format.
• principal::SVector{2, Float32}: Principal point in (cx, cy) format. Normalized by the resolution (in [0, 1] range)
• resolution::SVector{2, UInt32}: Resolution in (width, height) format.

Camera pose described by a quaternion q and position t.

spline(
    t::Float32,
    k0::CameraKeyframe, k1::CameraKeyframe,
    k2::CameraKeyframe, k3::CameraKeyframe)

Cubic B-spline between 4 CameraKeyframes. Vary t from [0, 1] to compute positions along a spline from k0 to k3.