def _init_camera()

in tacto/renderer.py [0:0]

• 22 lines of code
• 3 McCabe index (conditional complexity)

    def _init_camera(self):
        """
        Set up camera
        """

        self.camera_nodes = []
        self.camera_zero_poses = []

        conf_cam = self.conf.sensor.camera
        self.nb_cam = len(conf_cam)

        for i in range(self.nb_cam):
            cami = conf_cam[i]

            camera = pyrender.PerspectiveCamera(
                yfov=np.deg2rad(cami.yfov), znear=cami.znear,
            )
            camera_zero_pose = euler2matrix(
                angles=np.deg2rad(cami.orientation), translation=cami.position,
            )
            self.camera_zero_poses.append(camera_zero_pose)

            # Add camera node into scene
            camera_node = pyrender.Node(camera=camera, matrix=camera_zero_pose)
            self.scene.add_node(camera_node)
            self.camera_nodes.append(camera_node)

            # Add extra camera node into scene_depth
            self.camera_node_depth = pyrender.Node(
                camera=camera, matrix=camera_zero_pose
            )
            self.scene_depth.add_node(self.camera_node_depth)

            # Add corresponding light for rendering the camera
            self.cam_light_ids.append(list(cami.lightIDList))