# -----------------------------------------------------------------------------
# This file was autogenerated by symforce from template:
# cam_package/ops/CLASS/camera_ops.py.jinja
# Do NOT modify by hand.
# -----------------------------------------------------------------------------
# ruff: noqa: PLR0915, F401, PLW0211, PLR0914
from __future__ import annotations
import math
import typing as T
import numpy
import sym
[docs]
class CameraOps(object):
"""
Python CameraOps implementation for :py:class:`symforce.cam.atan_camera_cal.ATANCameraCal`.
"""
[docs]
@staticmethod
def focal_length(self: sym.ATANCameraCal) -> numpy.ndarray:
"""
Return the focal length.
"""
# Total ops: 0
# Input arrays
_self = self.data
# Intermediate terms (0)
# Output terms
_focal_length = numpy.zeros(2)
_focal_length[0] = _self[0]
_focal_length[1] = _self[1]
return _focal_length
[docs]
@staticmethod
def principal_point(self: sym.ATANCameraCal) -> numpy.ndarray:
"""
Return the principal point.
"""
# Total ops: 0
# Input arrays
_self = self.data
# Intermediate terms (0)
# Output terms
_principal_point = numpy.zeros(2)
_principal_point[0] = _self[2]
_principal_point[1] = _self[3]
return _principal_point
[docs]
@staticmethod
def pixel_from_camera_point(
self: sym.ATANCameraCal, point: numpy.ndarray, epsilon: float
) -> tuple[numpy.ndarray, float]:
"""
Project a 3D point in the camera frame into 2D pixel coordinates.
Returns:
pixel: (x, y) coordinate in pixels if valid
is_valid: 1 if the operation is within bounds else 0
"""
# Total ops: 25
# Input arrays
_self = self.data
if point.shape == (3,):
point = point.reshape((3, 1))
elif point.shape != (3, 1):
raise IndexError(
"point is expected to have shape (3, 1) or (3,); instead had shape {}".format(
point.shape
)
)
# Intermediate terms (4)
_tmp0 = max(epsilon, point[2, 0])
_tmp1 = _tmp0 ** (-2)
_tmp2 = math.sqrt(_tmp1 * point[0, 0] ** 2 + _tmp1 * point[1, 0] ** 2 + epsilon)
_tmp3 = math.atan(2 * _tmp2 * math.tan(0.5 * _self[4])) / (_self[4] * _tmp0 * _tmp2)
# Output terms
_pixel = numpy.zeros(2)
_pixel[0] = _self[0] * _tmp3 * point[0, 0] + _self[2]
_pixel[1] = _self[1] * _tmp3 * point[1, 0] + _self[3]
_is_valid = max(0, (0.0 if point[2, 0] == 0 else math.copysign(1, point[2, 0])))
return _pixel, _is_valid
[docs]
@staticmethod
def pixel_from_camera_point_with_jacobians(
self: sym.ATANCameraCal, point: numpy.ndarray, epsilon: float
) -> tuple[numpy.ndarray, float, numpy.ndarray, numpy.ndarray]:
"""
Project a 3D point in the camera frame into 2D pixel coordinates.
Returns:
pixel: (x, y) coordinate in pixels if valid
is_valid: 1 if the operation is within bounds else 0
pixel_D_cal: Derivative of pixel with respect to intrinsic calibration parameters
pixel_D_point: Derivative of pixel with respect to point
"""
# Total ops: 110
# Input arrays
_self = self.data
if point.shape == (3,):
point = point.reshape((3, 1))
elif point.shape != (3, 1):
raise IndexError(
"point is expected to have shape (3, 1) or (3,); instead had shape {}".format(
point.shape
)
)
# Intermediate terms (45)
_tmp0 = point[0, 0] ** 2
_tmp1 = max(epsilon, point[2, 0])
_tmp2 = _tmp1 ** (-2)
_tmp3 = point[1, 0] ** 2
_tmp4 = _tmp0 * _tmp2 + _tmp2 * _tmp3 + epsilon
_tmp5 = math.sqrt(_tmp4)
_tmp6 = 1 / _tmp5
_tmp7 = 1 / _tmp1
_tmp8 = _tmp6 * _tmp7
_tmp9 = math.tan(0.5 * _self[4])
_tmp10 = 2 * _tmp9
_tmp11 = math.atan(_tmp10 * _tmp5)
_tmp12 = 1 / _self[4]
_tmp13 = _tmp11 * _tmp12
_tmp14 = _tmp13 * point[0, 0]
_tmp15 = _tmp14 * _tmp8
_tmp16 = _tmp13 * _tmp8
_tmp17 = _tmp16 * point[1, 0]
_tmp18 = _tmp9**2
_tmp19 = 1.0 * _tmp18 + 1.0
_tmp20 = _self[0] * point[0, 0]
_tmp21 = _tmp12 / (4 * _tmp18 * _tmp4 + 1)
_tmp22 = _tmp20 * _tmp21
_tmp23 = _tmp22 * _tmp7
_tmp24 = _tmp11 * _tmp8 / _self[4] ** 2
_tmp25 = _self[1] * point[1, 0]
_tmp26 = _tmp25 * _tmp7
_tmp27 = _tmp21 * _tmp26
_tmp28 = _self[0] * _tmp0
_tmp29 = _tmp1 ** (-3)
_tmp30 = 1 / _tmp4
_tmp31 = _tmp10 * _tmp29 * _tmp30
_tmp32 = _tmp21 * _tmp31
_tmp33 = _tmp4 ** (-3.0 / 2.0)
_tmp34 = _tmp29 * _tmp33
_tmp35 = _tmp13 * _tmp34
_tmp36 = _tmp14 * _tmp34
_tmp37 = _self[1] * _tmp3
_tmp38 = (
0.0 if -epsilon + point[2, 0] == 0 else math.copysign(1, -epsilon + point[2, 0])
) + 1
_tmp39 = _tmp29 * _tmp38
_tmp40 = -_tmp0 * _tmp39 - _tmp3 * _tmp39
_tmp41 = _tmp30 * _tmp40 * _tmp9
_tmp42 = (1.0 / 2.0) * _tmp33 * _tmp40
_tmp43 = _self[0] * _tmp14
_tmp44 = (1.0 / 2.0) * _tmp2 * _tmp38 * _tmp6
# Output terms
_pixel = numpy.zeros(2)
_pixel[0] = _self[0] * _tmp15 + _self[2]
_pixel[1] = _self[1] * _tmp17 + _self[3]
_is_valid = max(0, (0.0 if point[2, 0] == 0 else math.copysign(1, point[2, 0])))
_pixel_D_cal = numpy.zeros((2, 5))
_pixel_D_cal[0, 0] = _tmp15
_pixel_D_cal[1, 0] = 0
_pixel_D_cal[0, 1] = 0
_pixel_D_cal[1, 1] = _tmp17
_pixel_D_cal[0, 2] = 1
_pixel_D_cal[1, 2] = 0
_pixel_D_cal[0, 3] = 0
_pixel_D_cal[1, 3] = 1
_pixel_D_cal[0, 4] = _tmp19 * _tmp23 - _tmp20 * _tmp24
_pixel_D_cal[1, 4] = _tmp19 * _tmp27 - _tmp24 * _tmp25
_pixel_D_point = numpy.zeros((2, 3))
_pixel_D_point[0, 0] = _self[0] * _tmp16 + _tmp28 * _tmp32 - _tmp28 * _tmp35
_pixel_D_point[1, 0] = _tmp25 * _tmp32 * point[0, 0] - _tmp25 * _tmp36
_pixel_D_point[0, 1] = -_self[0] * _tmp36 * point[1, 0] + _tmp22 * _tmp31 * point[1, 0]
_pixel_D_point[1, 1] = _self[1] * _tmp16 + _tmp32 * _tmp37 - _tmp35 * _tmp37
_pixel_D_point[0, 2] = _tmp23 * _tmp41 - _tmp42 * _tmp43 * _tmp7 - _tmp43 * _tmp44
_pixel_D_point[1, 2] = (
-_tmp13 * _tmp25 * _tmp44 - _tmp13 * _tmp26 * _tmp42 + _tmp27 * _tmp41
)
return _pixel, _is_valid, _pixel_D_cal, _pixel_D_point
[docs]
@staticmethod
def camera_ray_from_pixel(
self: sym.ATANCameraCal, pixel: numpy.ndarray, epsilon: float
) -> tuple[numpy.ndarray, float]:
"""
Backproject a 2D pixel coordinate into a 3D ray in the camera frame.
Returns:
camera_ray: The ray in the camera frame (NOT normalized)
is_valid: 1 if the operation is within bounds else 0
"""
# Total ops: 27
# Input arrays
_self = self.data
if pixel.shape == (2,):
pixel = pixel.reshape((2, 1))
elif pixel.shape != (2, 1):
raise IndexError(
"pixel is expected to have shape (2, 1) or (2,); instead had shape {}".format(
pixel.shape
)
)
# Intermediate terms (5)
_tmp0 = -_self[2] + pixel[0, 0]
_tmp1 = -_self[3] + pixel[1, 0]
_tmp2 = math.sqrt(epsilon + _tmp1**2 / _self[1] ** 2 + _tmp0**2 / _self[0] ** 2)
_tmp3 = _self[4] * _tmp2
_tmp4 = (1.0 / 2.0) * math.tan(_tmp3) / (_tmp2 * math.tan(0.5 * _self[4]))
# Output terms
_camera_ray = numpy.zeros(3)
_camera_ray[0] = _tmp0 * _tmp4 / _self[0]
_camera_ray[1] = _tmp1 * _tmp4 / _self[1]
_camera_ray[2] = 1
_is_valid = max(
0,
(
0.0
if -abs(_tmp3) + (1.0 / 2.0) * math.pi == 0
else math.copysign(1, -abs(_tmp3) + (1.0 / 2.0) * math.pi)
),
)
return _camera_ray, _is_valid
[docs]
@staticmethod
def camera_ray_from_pixel_with_jacobians(
self: sym.ATANCameraCal, pixel: numpy.ndarray, epsilon: float
) -> tuple[numpy.ndarray, float, numpy.ndarray, numpy.ndarray]:
"""
Backproject a 2D pixel coordinate into a 3D ray in the camera frame.
Returns:
camera_ray: The ray in the camera frame (NOT normalized)
is_valid: 1 if the operation is within bounds else 0
point_D_cal: Derivative of point with respect to intrinsic calibration parameters
point_D_pixel: Derivation of point with respect to pixel
"""
# Total ops: 107
# Input arrays
_self = self.data
if pixel.shape == (2,):
pixel = pixel.reshape((2, 1))
elif pixel.shape != (2, 1):
raise IndexError(
"pixel is expected to have shape (2, 1) or (2,); instead had shape {}".format(
pixel.shape
)
)
# Intermediate terms (49)
_tmp0 = -_self[2] + pixel[0, 0]
_tmp1 = _tmp0**2
_tmp2 = _self[0] ** (-2)
_tmp3 = -_self[3] + pixel[1, 0]
_tmp4 = _tmp3**2
_tmp5 = _self[1] ** (-2)
_tmp6 = _tmp1 * _tmp2 + _tmp4 * _tmp5 + epsilon
_tmp7 = math.sqrt(_tmp6)
_tmp8 = _self[4] * _tmp7
_tmp9 = math.tan(_tmp8)
_tmp10 = _tmp9 / _tmp7
_tmp11 = 1 / _self[0]
_tmp12 = math.tan(0.5 * _self[4])
_tmp13 = (1.0 / 2.0) / _tmp12
_tmp14 = _tmp11 * _tmp13
_tmp15 = _tmp10 * _tmp14
_tmp16 = 1 / _self[1]
_tmp17 = _tmp13 * _tmp16
_tmp18 = _tmp17 * _tmp3
_tmp19 = _tmp0**3 / _self[0] ** 4
_tmp20 = _tmp9**2 + 1
_tmp21 = _self[4] / _tmp6
_tmp22 = _tmp13 * _tmp20 * _tmp21
_tmp23 = _tmp9 / _tmp6 ** (3.0 / 2.0)
_tmp24 = _tmp13 * _tmp23
_tmp25 = _tmp10 * _tmp13
_tmp26 = _tmp0 * _tmp2
_tmp27 = _tmp1 / _self[0] ** 3
_tmp28 = _tmp18 * _tmp20
_tmp29 = _tmp21 * _tmp28
_tmp30 = _tmp18 * _tmp23
_tmp31 = _tmp4 / _self[1] ** 3
_tmp32 = _tmp0 * _tmp14
_tmp33 = _tmp23 * _tmp32
_tmp34 = _tmp20 * _tmp32
_tmp35 = _tmp21 * _tmp34
_tmp36 = _tmp3**3 / _self[1] ** 4
_tmp37 = _tmp3 * _tmp5
_tmp38 = _tmp22 * _tmp27
_tmp39 = _tmp24 * _tmp27
_tmp40 = _tmp26 * _tmp30
_tmp41 = _tmp26 * _tmp29
_tmp42 = _tmp33 * _tmp37
_tmp43 = _tmp35 * _tmp37
_tmp44 = _tmp22 * _tmp31
_tmp45 = _tmp24 * _tmp31
_tmp46 = _tmp10 * _tmp17
_tmp47 = _tmp12**2
_tmp48 = 0.25 * _tmp10 * (_tmp47 + 1) / _tmp47
# Output terms
_camera_ray = numpy.zeros(3)
_camera_ray[0] = _tmp0 * _tmp15
_camera_ray[1] = _tmp10 * _tmp18
_camera_ray[2] = 1
_is_valid = max(
0,
(
0.0
if -abs(_tmp8) + (1.0 / 2.0) * math.pi == 0
else math.copysign(1, -abs(_tmp8) + (1.0 / 2.0) * math.pi)
),
)
_point_D_cal = numpy.zeros((3, 5))
_point_D_cal[0, 0] = -_tmp19 * _tmp22 + _tmp19 * _tmp24 - _tmp25 * _tmp26
_point_D_cal[1, 0] = -_tmp27 * _tmp29 + _tmp27 * _tmp30
_point_D_cal[2, 0] = 0
_point_D_cal[0, 1] = _tmp31 * _tmp33 - _tmp31 * _tmp35
_point_D_cal[1, 1] = -_tmp22 * _tmp36 + _tmp24 * _tmp36 - _tmp25 * _tmp37
_point_D_cal[2, 1] = 0
_point_D_cal[0, 2] = -_tmp15 - _tmp38 + _tmp39
_point_D_cal[1, 2] = _tmp40 - _tmp41
_point_D_cal[2, 2] = 0
_point_D_cal[0, 3] = _tmp42 - _tmp43
_point_D_cal[1, 3] = -_tmp44 + _tmp45 - _tmp46
_point_D_cal[2, 3] = 0
_point_D_cal[0, 4] = -_tmp0 * _tmp11 * _tmp48 + _tmp34
_point_D_cal[1, 4] = -_tmp16 * _tmp3 * _tmp48 + _tmp28
_point_D_cal[2, 4] = 0
_point_D_pixel = numpy.zeros((3, 2))
_point_D_pixel[0, 0] = _tmp15 + _tmp38 - _tmp39
_point_D_pixel[1, 0] = -_tmp40 + _tmp41
_point_D_pixel[2, 0] = 0
_point_D_pixel[0, 1] = -_tmp42 + _tmp43
_point_D_pixel[1, 1] = _tmp44 - _tmp45 + _tmp46
_point_D_pixel[2, 1] = 0
return _camera_ray, _is_valid, _point_D_cal, _point_D_pixel