Source code for sym.ops.double_sphere_camera_cal.group_ops

# -----------------------------------------------------------------------------
# This file was autogenerated by symforce from template:
#     ops/CLASS/group_ops.py.jinja
# Do NOT modify by hand.
# -----------------------------------------------------------------------------

import math
import typing as T

import numpy

import sym  # pylint: disable=useless-suppression,unused-import


[docs]class GroupOps(object): """ Python GroupOps implementation for :py:class:`symforce.cam.double_sphere_camera_cal.DoubleSphereCameraCal`. """
[docs] @staticmethod def identity(): # type: () -> sym.DoubleSphereCameraCal # Total ops: 0 # Input arrays # Intermediate terms (0) # Output terms _res = [0.0] * 6 _res[0] = 0 _res[1] = 0 _res[2] = 0 _res[3] = 0 _res[4] = 0 _res[5] = 0 return sym.DoubleSphereCameraCal.from_storage(_res)
[docs] @staticmethod def inverse(a): # type: (sym.DoubleSphereCameraCal) -> sym.DoubleSphereCameraCal # Total ops: 6 # Input arrays _a = a.data # Intermediate terms (0) # Output terms _res = [0.0] * 6 _res[0] = -_a[0] _res[1] = -_a[1] _res[2] = -_a[2] _res[3] = -_a[3] _res[4] = -_a[4] _res[5] = -_a[5] return sym.DoubleSphereCameraCal.from_storage(_res)
[docs] @staticmethod def compose(a, b): # type: (sym.DoubleSphereCameraCal, sym.DoubleSphereCameraCal) -> sym.DoubleSphereCameraCal # Total ops: 6 # Input arrays _a = a.data _b = b.data # Intermediate terms (0) # Output terms _res = [0.0] * 6 _res[0] = _a[0] + _b[0] _res[1] = _a[1] + _b[1] _res[2] = _a[2] + _b[2] _res[3] = _a[3] + _b[3] _res[4] = _a[4] + _b[4] _res[5] = _a[5] + _b[5] return sym.DoubleSphereCameraCal.from_storage(_res)
[docs] @staticmethod def between(a, b): # type: (sym.DoubleSphereCameraCal, sym.DoubleSphereCameraCal) -> sym.DoubleSphereCameraCal # Total ops: 6 # Input arrays _a = a.data _b = b.data # Intermediate terms (0) # Output terms _res = [0.0] * 6 _res[0] = -_a[0] + _b[0] _res[1] = -_a[1] + _b[1] _res[2] = -_a[2] + _b[2] _res[3] = -_a[3] + _b[3] _res[4] = -_a[4] + _b[4] _res[5] = -_a[5] + _b[5] return sym.DoubleSphereCameraCal.from_storage(_res)
[docs] @staticmethod def inverse_with_jacobian(a): # type: (sym.DoubleSphereCameraCal) -> T.Tuple[sym.DoubleSphereCameraCal, numpy.ndarray] # Total ops: 6 # Input arrays _a = a.data # Intermediate terms (0) # Output terms _res = [0.0] * 6 _res[0] = -_a[0] _res[1] = -_a[1] _res[2] = -_a[2] _res[3] = -_a[3] _res[4] = -_a[4] _res[5] = -_a[5] _res_D_a = numpy.zeros((6, 6)) _res_D_a[0, 0] = -1 _res_D_a[1, 0] = 0 _res_D_a[2, 0] = 0 _res_D_a[3, 0] = 0 _res_D_a[4, 0] = 0 _res_D_a[5, 0] = 0 _res_D_a[0, 1] = 0 _res_D_a[1, 1] = -1 _res_D_a[2, 1] = 0 _res_D_a[3, 1] = 0 _res_D_a[4, 1] = 0 _res_D_a[5, 1] = 0 _res_D_a[0, 2] = 0 _res_D_a[1, 2] = 0 _res_D_a[2, 2] = -1 _res_D_a[3, 2] = 0 _res_D_a[4, 2] = 0 _res_D_a[5, 2] = 0 _res_D_a[0, 3] = 0 _res_D_a[1, 3] = 0 _res_D_a[2, 3] = 0 _res_D_a[3, 3] = -1 _res_D_a[4, 3] = 0 _res_D_a[5, 3] = 0 _res_D_a[0, 4] = 0 _res_D_a[1, 4] = 0 _res_D_a[2, 4] = 0 _res_D_a[3, 4] = 0 _res_D_a[4, 4] = -1 _res_D_a[5, 4] = 0 _res_D_a[0, 5] = 0 _res_D_a[1, 5] = 0 _res_D_a[2, 5] = 0 _res_D_a[3, 5] = 0 _res_D_a[4, 5] = 0 _res_D_a[5, 5] = -1 return sym.DoubleSphereCameraCal.from_storage(_res), _res_D_a
[docs] @staticmethod def compose_with_jacobians(a, b): # type: (sym.DoubleSphereCameraCal, sym.DoubleSphereCameraCal) -> T.Tuple[sym.DoubleSphereCameraCal, numpy.ndarray, numpy.ndarray] # Total ops: 6 # Input arrays _a = a.data _b = b.data # Intermediate terms (0) # Output terms _res = [0.0] * 6 _res[0] = _a[0] + _b[0] _res[1] = _a[1] + _b[1] _res[2] = _a[2] + _b[2] _res[3] = _a[3] + _b[3] _res[4] = _a[4] + _b[4] _res[5] = _a[5] + _b[5] _res_D_a = numpy.zeros((6, 6)) _res_D_a[0, 0] = 1 _res_D_a[1, 0] = 0 _res_D_a[2, 0] = 0 _res_D_a[3, 0] = 0 _res_D_a[4, 0] = 0 _res_D_a[5, 0] = 0 _res_D_a[0, 1] = 0 _res_D_a[1, 1] = 1 _res_D_a[2, 1] = 0 _res_D_a[3, 1] = 0 _res_D_a[4, 1] = 0 _res_D_a[5, 1] = 0 _res_D_a[0, 2] = 0 _res_D_a[1, 2] = 0 _res_D_a[2, 2] = 1 _res_D_a[3, 2] = 0 _res_D_a[4, 2] = 0 _res_D_a[5, 2] = 0 _res_D_a[0, 3] = 0 _res_D_a[1, 3] = 0 _res_D_a[2, 3] = 0 _res_D_a[3, 3] = 1 _res_D_a[4, 3] = 0 _res_D_a[5, 3] = 0 _res_D_a[0, 4] = 0 _res_D_a[1, 4] = 0 _res_D_a[2, 4] = 0 _res_D_a[3, 4] = 0 _res_D_a[4, 4] = 1 _res_D_a[5, 4] = 0 _res_D_a[0, 5] = 0 _res_D_a[1, 5] = 0 _res_D_a[2, 5] = 0 _res_D_a[3, 5] = 0 _res_D_a[4, 5] = 0 _res_D_a[5, 5] = 1 _res_D_b = numpy.zeros((6, 6)) _res_D_b[0, 0] = 1 _res_D_b[1, 0] = 0 _res_D_b[2, 0] = 0 _res_D_b[3, 0] = 0 _res_D_b[4, 0] = 0 _res_D_b[5, 0] = 0 _res_D_b[0, 1] = 0 _res_D_b[1, 1] = 1 _res_D_b[2, 1] = 0 _res_D_b[3, 1] = 0 _res_D_b[4, 1] = 0 _res_D_b[5, 1] = 0 _res_D_b[0, 2] = 0 _res_D_b[1, 2] = 0 _res_D_b[2, 2] = 1 _res_D_b[3, 2] = 0 _res_D_b[4, 2] = 0 _res_D_b[5, 2] = 0 _res_D_b[0, 3] = 0 _res_D_b[1, 3] = 0 _res_D_b[2, 3] = 0 _res_D_b[3, 3] = 1 _res_D_b[4, 3] = 0 _res_D_b[5, 3] = 0 _res_D_b[0, 4] = 0 _res_D_b[1, 4] = 0 _res_D_b[2, 4] = 0 _res_D_b[3, 4] = 0 _res_D_b[4, 4] = 1 _res_D_b[5, 4] = 0 _res_D_b[0, 5] = 0 _res_D_b[1, 5] = 0 _res_D_b[2, 5] = 0 _res_D_b[3, 5] = 0 _res_D_b[4, 5] = 0 _res_D_b[5, 5] = 1 return sym.DoubleSphereCameraCal.from_storage(_res), _res_D_a, _res_D_b
[docs] @staticmethod def between_with_jacobians(a, b): # type: (sym.DoubleSphereCameraCal, sym.DoubleSphereCameraCal) -> T.Tuple[sym.DoubleSphereCameraCal, numpy.ndarray, numpy.ndarray] # Total ops: 6 # Input arrays _a = a.data _b = b.data # Intermediate terms (0) # Output terms _res = [0.0] * 6 _res[0] = -_a[0] + _b[0] _res[1] = -_a[1] + _b[1] _res[2] = -_a[2] + _b[2] _res[3] = -_a[3] + _b[3] _res[4] = -_a[4] + _b[4] _res[5] = -_a[5] + _b[5] _res_D_a = numpy.zeros((6, 6)) _res_D_a[0, 0] = -1 _res_D_a[1, 0] = 0 _res_D_a[2, 0] = 0 _res_D_a[3, 0] = 0 _res_D_a[4, 0] = 0 _res_D_a[5, 0] = 0 _res_D_a[0, 1] = 0 _res_D_a[1, 1] = -1 _res_D_a[2, 1] = 0 _res_D_a[3, 1] = 0 _res_D_a[4, 1] = 0 _res_D_a[5, 1] = 0 _res_D_a[0, 2] = 0 _res_D_a[1, 2] = 0 _res_D_a[2, 2] = -1 _res_D_a[3, 2] = 0 _res_D_a[4, 2] = 0 _res_D_a[5, 2] = 0 _res_D_a[0, 3] = 0 _res_D_a[1, 3] = 0 _res_D_a[2, 3] = 0 _res_D_a[3, 3] = -1 _res_D_a[4, 3] = 0 _res_D_a[5, 3] = 0 _res_D_a[0, 4] = 0 _res_D_a[1, 4] = 0 _res_D_a[2, 4] = 0 _res_D_a[3, 4] = 0 _res_D_a[4, 4] = -1 _res_D_a[5, 4] = 0 _res_D_a[0, 5] = 0 _res_D_a[1, 5] = 0 _res_D_a[2, 5] = 0 _res_D_a[3, 5] = 0 _res_D_a[4, 5] = 0 _res_D_a[5, 5] = -1 _res_D_b = numpy.zeros((6, 6)) _res_D_b[0, 0] = 1 _res_D_b[1, 0] = 0 _res_D_b[2, 0] = 0 _res_D_b[3, 0] = 0 _res_D_b[4, 0] = 0 _res_D_b[5, 0] = 0 _res_D_b[0, 1] = 0 _res_D_b[1, 1] = 1 _res_D_b[2, 1] = 0 _res_D_b[3, 1] = 0 _res_D_b[4, 1] = 0 _res_D_b[5, 1] = 0 _res_D_b[0, 2] = 0 _res_D_b[1, 2] = 0 _res_D_b[2, 2] = 1 _res_D_b[3, 2] = 0 _res_D_b[4, 2] = 0 _res_D_b[5, 2] = 0 _res_D_b[0, 3] = 0 _res_D_b[1, 3] = 0 _res_D_b[2, 3] = 0 _res_D_b[3, 3] = 1 _res_D_b[4, 3] = 0 _res_D_b[5, 3] = 0 _res_D_b[0, 4] = 0 _res_D_b[1, 4] = 0 _res_D_b[2, 4] = 0 _res_D_b[3, 4] = 0 _res_D_b[4, 4] = 1 _res_D_b[5, 4] = 0 _res_D_b[0, 5] = 0 _res_D_b[1, 5] = 0 _res_D_b[2, 5] = 0 _res_D_b[3, 5] = 0 _res_D_b[4, 5] = 0 _res_D_b[5, 5] = 1 return sym.DoubleSphereCameraCal.from_storage(_res), _res_D_a, _res_D_b