INNER CODE UNIT · Python

get_3x4_RT_matrix_from_blender

VITA-Group/Diffusion4D · rendering/blender.py:397

def get_3x4_RT_matrix_from_blender(cam: bpy.types.Object) -> Matrix:
    """Returns the 3x4 RT matrix from the given camera.

    Taken from Zero123, which in turn was taken from
    https://github.com/panmari/stanford-shapenet-renderer/blob/master/render_blender.py

    Args:
        cam (bpy.types.Object): The camera object.

    Returns:
        Matrix: The 3x4 RT matrix from the given camera.
    """
    # Use matrix_world instead to account for all constraints
    location, rotation = cam.matrix_world.decompose()[0:2]
    R_world2bcam = rotation.to_matrix().transposed()

    # Use location from matrix_world to account for constraints:
    T_world2bcam = -1 * R_world2bcam @ location

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