#
# Copyright (C) 2023, Inria
# GRAPHDECO research group, https://team.inria.fr/graphdeco
# All rights reserved.
#
# This software is free for non-commercial, research and evaluation use 
# under the terms of the LICENSE.md file.
#
# For inquiries contact  george.drettakis@inria.fr
#

import torch
from torch import nn
import numpy as np
from utils.graphics_utils import getWorld2View2, getProjectionMatrix

class Camera(nn.Module):
    def __init__(self, colmap_id, R