# -----------------------------------------------------------------------------
# This file was autogenerated by symforce from template:
# ops/CLASS/group_ops.py.jinja
# Do NOT modify by hand.
# -----------------------------------------------------------------------------
# ruff: noqa: PLR0915, F401, PLW0211, PLR0914
import math
import typing as T
import numpy
import sym
[docs]class GroupOps(object):
"""
Python GroupOps implementation for :py:class:`symforce.cam.linear_camera_cal.LinearCameraCal`.
"""
[docs] @staticmethod
def identity():
# type: () -> sym.LinearCameraCal
# Total ops: 0
# Input arrays
# Intermediate terms (0)
# Output terms
_res = [0.0] * 4
_res[0] = 0
_res[1] = 0
_res[2] = 0
_res[3] = 0
return sym.LinearCameraCal.from_storage(_res)
[docs] @staticmethod
def inverse(a):
# type: (sym.LinearCameraCal) -> sym.LinearCameraCal
# Total ops: 4
# Input arrays
_a = a.data
# Intermediate terms (0)
# Output terms
_res = [0.0] * 4
_res[0] = -_a[0]
_res[1] = -_a[1]
_res[2] = -_a[2]
_res[3] = -_a[3]
return sym.LinearCameraCal.from_storage(_res)
[docs] @staticmethod
def compose(a, b):
# type: (sym.LinearCameraCal, sym.LinearCameraCal) -> sym.LinearCameraCal
# Total ops: 4
# Input arrays
_a = a.data
_b = b.data
# Intermediate terms (0)
# Output terms
_res = [0.0] * 4
_res[0] = _a[0] + _b[0]
_res[1] = _a[1] + _b[1]
_res[2] = _a[2] + _b[2]
_res[3] = _a[3] + _b[3]
return sym.LinearCameraCal.from_storage(_res)
[docs] @staticmethod
def between(a, b):
# type: (sym.LinearCameraCal, sym.LinearCameraCal) -> sym.LinearCameraCal
# Total ops: 4
# Input arrays
_a = a.data
_b = b.data
# Intermediate terms (0)
# Output terms
_res = [0.0] * 4
_res[0] = -_a[0] + _b[0]
_res[1] = -_a[1] + _b[1]
_res[2] = -_a[2] + _b[2]
_res[3] = -_a[3] + _b[3]
return sym.LinearCameraCal.from_storage(_res)
[docs] @staticmethod
def inverse_with_jacobian(a):
# type: (sym.LinearCameraCal) -> T.Tuple[sym.LinearCameraCal, numpy.ndarray]
# Total ops: 4
# Input arrays
_a = a.data
# Intermediate terms (0)
# Output terms
_res = [0.0] * 4
_res[0] = -_a[0]
_res[1] = -_a[1]
_res[2] = -_a[2]
_res[3] = -_a[3]
_res_D_a = numpy.zeros((4, 4))
_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[0, 1] = 0
_res_D_a[1, 1] = -1
_res_D_a[2, 1] = 0
_res_D_a[3, 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[0, 3] = 0
_res_D_a[1, 3] = 0
_res_D_a[2, 3] = 0
_res_D_a[3, 3] = -1
return sym.LinearCameraCal.from_storage(_res), _res_D_a
[docs] @staticmethod
def compose_with_jacobians(a, b):
# type: (sym.LinearCameraCal, sym.LinearCameraCal) -> T.Tuple[sym.LinearCameraCal, numpy.ndarray, numpy.ndarray]
# Total ops: 4
# Input arrays
_a = a.data
_b = b.data
# Intermediate terms (0)
# Output terms
_res = [0.0] * 4
_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_D_a = numpy.zeros((4, 4))
_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[0, 1] = 0
_res_D_a[1, 1] = 1
_res_D_a[2, 1] = 0
_res_D_a[3, 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[0, 3] = 0
_res_D_a[1, 3] = 0
_res_D_a[2, 3] = 0
_res_D_a[3, 3] = 1
_res_D_b = numpy.zeros((4, 4))
_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[0, 1] = 0
_res_D_b[1, 1] = 1
_res_D_b[2, 1] = 0
_res_D_b[3, 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[0, 3] = 0
_res_D_b[1, 3] = 0
_res_D_b[2, 3] = 0
_res_D_b[3, 3] = 1
return sym.LinearCameraCal.from_storage(_res), _res_D_a, _res_D_b
[docs] @staticmethod
def between_with_jacobians(a, b):
# type: (sym.LinearCameraCal, sym.LinearCameraCal) -> T.Tuple[sym.LinearCameraCal, numpy.ndarray, numpy.ndarray]
# Total ops: 4
# Input arrays
_a = a.data
_b = b.data
# Intermediate terms (0)
# Output terms
_res = [0.0] * 4
_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_D_a = numpy.zeros((4, 4))
_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[0, 1] = 0
_res_D_a[1, 1] = -1
_res_D_a[2, 1] = 0
_res_D_a[3, 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[0, 3] = 0
_res_D_a[1, 3] = 0
_res_D_a[2, 3] = 0
_res_D_a[3, 3] = -1
_res_D_b = numpy.zeros((4, 4))
_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[0, 1] = 0
_res_D_b[1, 1] = 1
_res_D_b[2, 1] = 0
_res_D_b[3, 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[0, 3] = 0
_res_D_b[1, 3] = 0
_res_D_b[2, 3] = 0
_res_D_b[3, 3] = 1
return sym.LinearCameraCal.from_storage(_res), _res_D_a, _res_D_b