Added frustum

examples/image.py

@@ -2,15 +2,27 @@
 from nerfvis import scene
 import numpy as np
 import imageio.v2 as imageio
+from scipy.spatial.transform.rotation import Rotation
 
 bulldozer = imageio.imread('bulldozer.jpg')
-scene.add_cube('My cube/0', translation=[0,0,0])
+R = Rotation.from_rotvec(np.pi/2 * np.array([0, 1, 0])).as_matrix()
+t = np.random.randn(3) * 0.1
+f = 358 / 800 * 1111
+Z = 1.0
+scene.add_cube('My cube/0', translation=R[:, 2] * 2, color=[1, 0, 0])
+scene.add_camera_frustum('My camera/0',
+                         r = R,
+                         t = t,
+                         focal_length=f,
+                         image_width=bulldozer.shape[1],
+                         image_height=bulldozer.shape[0],
+                         z=Z)
 scene.add_image('My bulldozer image',
                 bulldozer,
-                r = np.eye(3),
-                t = np.zeros(3),
-                focal_length=358 / 800 * 1111,
-                z=1.0,
+                r = R,
+                t = t,
+                focal_length=f,
+                z=Z,
                 opengl=False
             )
 scene.set_opencv()