Add a Camera.forward() getter (world-space viewing direction)#61
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Add a Camera.forward() getter (world-space viewing direction)#61dchaudhari7177 wants to merge 1 commit into
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Approved this one @dchaudhari7177 — thank you! It picked up a one-line conflict in cameras.py because #60 (the Intrinsics validator) merged just before it. Could you rebase on latest main and resolve? Should be trivial. Then it goes straight in. Closes #58. |
centre() reads the camera position off R/t, but there was no getter for the direction the camera is looking — useful for logging, frustum checks and pointing sanity tests. R's rows are the camera axes in world coordinates as [right, down, forward] (OpenCV, +z forward), so the forward axis is the third row. forward() returns it as a length-3 unit array. Read-only, no new dependency. Closes bamdadd#58
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Closes #58.
Camera.centre()gives the camera position, but there was no getter for the direction the camera is looking — handy for logging, frustum checks, and "is this camera pointed the right way?" sanity tests.Change:
Camera.forward() -> FloatArrayreturns the world-space unit viewing direction.R's rows are the camera axes in world coordinates in the order[right, down, forward](OpenCV, +z forward), so the forward axis is the third row — already unit length for an orthonormalR. Placed next tocentre(). Pure read-only, no new dependency.Acceptance criteria:
forward()returns a length-3 world-space unit vector (norm ≈ 1). ✅Camera.look_at(0, intr, eye, target)hasforward()≈normalize(target - eye). ✅ruff check/formatandmypyclean on the changed files; new tests pass.