# -----------------------------------------------------------------------------
# This file was autogenerated by symforce from template:
# cam_package/ops/CLASS/camera_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 CameraOps(object):
"""
Python CameraOps implementation for :py:class:`symforce.cam.equirectangular_camera_cal.EquirectangularCameraCal`.
"""
[docs] @staticmethod
def focal_length(self):
# type: (sym.EquirectangularCameraCal) -> 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):
# type: (sym.EquirectangularCameraCal) -> 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, point, epsilon):
# type: (sym.EquirectangularCameraCal, numpy.ndarray, float) -> T.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: 19
# 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 (1)
_tmp0 = point[0, 0] ** 2 + point[2, 0] ** 2
# Output terms
_pixel = numpy.zeros(2)
_pixel[0] = (
_self[0]
* math.atan2(
point[0, 0],
epsilon * ((0.0 if point[2, 0] == 0 else math.copysign(1, point[2, 0])) + 0.5)
+ point[2, 0],
)
+ _self[2]
)
_pixel[1] = _self[1] * math.atan2(point[1, 0], math.sqrt(_tmp0 + epsilon)) + _self[3]
_is_valid = max(
0,
(0.0 if _tmp0 + point[1, 0] ** 2 == 0 else math.copysign(1, _tmp0 + point[1, 0] ** 2)),
)
return _pixel, _is_valid
[docs] @staticmethod
def pixel_from_camera_point_with_jacobians(self, point, epsilon):
# type: (sym.EquirectangularCameraCal, numpy.ndarray, float) -> T.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: 34
# 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 (10)
_tmp0 = (
epsilon * ((0.0 if point[2, 0] == 0 else math.copysign(1, point[2, 0])) + 0.5)
+ point[2, 0]
)
_tmp1 = math.atan2(point[0, 0], _tmp0)
_tmp2 = point[0, 0] ** 2
_tmp3 = _tmp2 + point[2, 0] ** 2
_tmp4 = math.sqrt(_tmp3 + epsilon)
_tmp5 = math.atan2(point[1, 0], _tmp4)
_tmp6 = _tmp3 + point[1, 0] ** 2
_tmp7 = _self[0] / (_tmp0**2 + _tmp2)
_tmp8 = _self[1] / (_tmp6 + epsilon)
_tmp9 = _tmp8 * point[1, 0] / _tmp4
# Output terms
_pixel = numpy.zeros(2)
_pixel[0] = _self[0] * _tmp1 + _self[2]
_pixel[1] = _self[1] * _tmp5 + _self[3]
_is_valid = max(0, (0.0 if _tmp6 == 0 else math.copysign(1, _tmp6)))
_pixel_D_cal = numpy.zeros((2, 4))
_pixel_D_cal[0, 0] = _tmp1
_pixel_D_cal[1, 0] = 0
_pixel_D_cal[0, 1] = 0
_pixel_D_cal[1, 1] = _tmp5
_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_point = numpy.zeros((2, 3))
_pixel_D_point[0, 0] = _tmp0 * _tmp7
_pixel_D_point[1, 0] = -_tmp9 * point[0, 0]
_pixel_D_point[0, 1] = 0
_pixel_D_point[1, 1] = _tmp4 * _tmp8
_pixel_D_point[0, 2] = -_tmp7 * point[0, 0]
_pixel_D_point[1, 2] = -_tmp9 * point[2, 0]
return _pixel, _is_valid, _pixel_D_cal, _pixel_D_point
[docs] @staticmethod
def camera_ray_from_pixel(self, pixel, epsilon):
# type: (sym.EquirectangularCameraCal, numpy.ndarray, float) -> T.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: 19
# 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 (3)
_tmp0 = (-_self[3] + pixel[1, 0]) / _self[1]
_tmp1 = math.cos(_tmp0)
_tmp2 = (-_self[2] + pixel[0, 0]) / _self[0]
# Output terms
_camera_ray = numpy.zeros(3)
_camera_ray[0] = _tmp1 * math.sin(_tmp2)
_camera_ray[1] = math.sin(_tmp0)
_camera_ray[2] = _tmp1 * math.cos(_tmp2)
_is_valid = max(
0,
min(
(0.0 if math.pi - abs(_tmp2) == 0 else math.copysign(1, math.pi - abs(_tmp2))),
(
0.0
if -abs(_tmp0) + (1.0 / 2.0) * math.pi == 0
else math.copysign(1, -abs(_tmp0) + (1.0 / 2.0) * math.pi)
),
),
)
return _camera_ray, _is_valid
[docs] @staticmethod
def camera_ray_from_pixel_with_jacobians(self, pixel, epsilon):
# type: (sym.EquirectangularCameraCal, numpy.ndarray, float) -> T.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: 44
# 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 (21)
_tmp0 = -_self[3] + pixel[1, 0]
_tmp1 = 1 / _self[1]
_tmp2 = _tmp0 * _tmp1
_tmp3 = math.cos(_tmp2)
_tmp4 = -_self[2] + pixel[0, 0]
_tmp5 = 1 / _self[0]
_tmp6 = _tmp4 * _tmp5
_tmp7 = math.sin(_tmp6)
_tmp8 = _tmp3 * _tmp7
_tmp9 = math.sin(_tmp2)
_tmp10 = math.cos(_tmp6)
_tmp11 = _tmp10 * _tmp3
_tmp12 = _tmp4 / _self[0] ** 2
_tmp13 = _tmp0 / _self[1] ** 2
_tmp14 = _tmp13 * _tmp9
_tmp15 = _tmp11 * _tmp5
_tmp16 = _tmp5 * _tmp8
_tmp17 = _tmp1 * _tmp9
_tmp18 = _tmp17 * _tmp7
_tmp19 = _tmp1 * _tmp3
_tmp20 = _tmp10 * _tmp17
# Output terms
_camera_ray = numpy.zeros(3)
_camera_ray[0] = _tmp8
_camera_ray[1] = _tmp9
_camera_ray[2] = _tmp11
_is_valid = max(
0,
min(
(0.0 if math.pi - abs(_tmp6) == 0 else math.copysign(1, math.pi - abs(_tmp6))),
(
0.0
if -abs(_tmp2) + (1.0 / 2.0) * math.pi == 0
else math.copysign(1, -abs(_tmp2) + (1.0 / 2.0) * math.pi)
),
),
)
_point_D_cal = numpy.zeros((3, 4))
_point_D_cal[0, 0] = -_tmp11 * _tmp12
_point_D_cal[1, 0] = 0
_point_D_cal[2, 0] = _tmp12 * _tmp8
_point_D_cal[0, 1] = _tmp14 * _tmp7
_point_D_cal[1, 1] = -_tmp13 * _tmp3
_point_D_cal[2, 1] = _tmp10 * _tmp14
_point_D_cal[0, 2] = -_tmp15
_point_D_cal[1, 2] = 0
_point_D_cal[2, 2] = _tmp16
_point_D_cal[0, 3] = _tmp18
_point_D_cal[1, 3] = -_tmp19
_point_D_cal[2, 3] = _tmp20
_point_D_pixel = numpy.zeros((3, 2))
_point_D_pixel[0, 0] = _tmp15
_point_D_pixel[1, 0] = 0
_point_D_pixel[2, 0] = -_tmp16
_point_D_pixel[0, 1] = -_tmp18
_point_D_pixel[1, 1] = _tmp19
_point_D_pixel[2, 1] = -_tmp20
return _camera_ray, _is_valid, _point_D_cal, _point_D_pixel