# -----------------------------------------------------------------------------
# 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
import math
import typing as T
import numpy
import sym
[docs]class CameraOps(object):
"""
Python CameraOps implementation for :py:class:`symforce.cam.orthographic_camera_cal.OrthographicCameraCal`.
"""
[docs] @staticmethod
def focal_length(self):
# type: (sym.OrthographicCameraCal) -> 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.OrthographicCameraCal) -> 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.OrthographicCameraCal, 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: 6
# 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 (0)
# Output terms
_pixel = numpy.zeros(2)
_pixel[0] = _self[0] * point[0, 0] + _self[2]
_pixel[1] = _self[1] * 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, point, epsilon):
# type: (sym.OrthographicCameraCal, 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: 6
# 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 (0)
# Output terms
_pixel = numpy.zeros(2)
_pixel[0] = _self[0] * point[0, 0] + _self[2]
_pixel[1] = _self[1] * point[1, 0] + _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, 4))
_pixel_D_cal[0, 0] = point[0, 0]
_pixel_D_cal[1, 0] = 0
_pixel_D_cal[0, 1] = 0
_pixel_D_cal[1, 1] = point[1, 0]
_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] = _self[0]
_pixel_D_point[1, 0] = 0
_pixel_D_point[0, 1] = 0
_pixel_D_point[1, 1] = _self[1]
_pixel_D_point[0, 2] = 0
_pixel_D_point[1, 2] = 0
return _pixel, _is_valid, _pixel_D_cal, _pixel_D_point