How to specify "to_world" directly by a 4x4 matrix

[07hyx06]

Hi, thanks for the great project and the document.

I find that to specify the "to_world" parameter in the sensor, some APIs are provided, like look_at, rotate around a specific axis, and translation. If I already have a camera pose matrix (e.g. obtained from COLMAP), can I use this matrix to specify the "to_world" parameter without converting it to axis-angle rotation?

Thanks.

[njroussel]

Hi @07hyx06

Yes you can, this constructor accepts a Matrix as input.

matrix = np.array([
    [0., 1., 2., 3.],
    [1., 2., 3., 4.],
    [2., 3., 4., 5.],
    [3., 4., 5., 6.]
])
transform =  mi.Transform4f(matrix)