# Source code for sym.ops.spherical_camera_cal.camera_ops

```# -----------------------------------------------------------------------------
# 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.spherical_camera_cal.SphericalCameraCal`.
"""

[docs]    @staticmethod
def focal_length(self):
# type: (sym.SphericalCameraCal) -> 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.SphericalCameraCal) -> 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.SphericalCameraCal, 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: 51

# 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 (12)
_tmp0 = point[1, 0] ** 2
_tmp1 = point[0, 0] ** 2
_tmp2 = _tmp0 + _tmp1 + epsilon
_tmp3 = math.sqrt(_tmp2)
_tmp4 = math.atan2(_tmp3, point[2, 0])
_tmp5 = min(_tmp4, _self[4] - epsilon)
_tmp6 = (
_self[5] * _tmp5**3
+ _self[6] * _tmp5**5
+ _self[7] * _tmp5**7
+ _self[8] * _tmp5**9
+ _tmp5
)
_tmp7 = _tmp6 / _tmp3
_tmp8 = _tmp6**2 / _tmp2
_tmp9 = 2 * _tmp8 * point[0, 0] * point[1, 0]
_tmp10 = _tmp0 * _tmp8
_tmp11 = _tmp1 * _tmp8

# Output terms
_pixel = numpy.zeros(2)
_pixel[0] = (
_self[0]
* (_self[10] * _tmp9 + _self[9] * _tmp10 + 3 * _self[9] * _tmp11 + _tmp7 * point[0, 0])
+ _self[2]
)
_pixel[1] = (
_self[1]
* (3 * _self[10] * _tmp10 + _self[10] * _tmp11 + _self[9] * _tmp9 + _tmp7 * point[1, 0])
+ _self[3]
)
_is_valid = max(0, (0.0 if _self[4] - _tmp4 == 0 else math.copysign(1, _self[4] - _tmp4)))
return _pixel, _is_valid

[docs]    @staticmethod
def pixel_from_camera_point_with_jacobians(self, point, epsilon):
# type: (sym.SphericalCameraCal, 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: 321

# 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 (79)
_tmp0 = -epsilon
_tmp1 = point[1, 0] ** 2
_tmp2 = point[0, 0] ** 2
_tmp3 = _tmp1 + _tmp2 + epsilon
_tmp4 = math.sqrt(_tmp3)
_tmp5 = math.atan2(_tmp4, point[2, 0])
_tmp6 = min(_tmp5, _self[4] + _tmp0)
_tmp7 = _tmp6**5
_tmp8 = _tmp6**7
_tmp9 = _tmp6**9
_tmp10 = _tmp6**3
_tmp11 = _self[5] * _tmp10 + _self[6] * _tmp7 + _self[7] * _tmp8 + _self[8] * _tmp9 + _tmp6
_tmp12 = 1 / _tmp4
_tmp13 = _tmp11 * _tmp12
_tmp14 = point[0, 0] * point[1, 0]
_tmp15 = _tmp11**2
_tmp16 = 1 / _tmp3
_tmp17 = _tmp15 * _tmp16
_tmp18 = 2 * _self[10]
_tmp19 = _tmp17 * _tmp18
_tmp20 = _tmp1 * _tmp17
_tmp21 = _tmp17 * _tmp2
_tmp22 = 3 * _tmp21
_tmp23 = _self[9] * _tmp20 + _self[9] * _tmp22 + _tmp13 * point[0, 0] + _tmp14 * _tmp19
_tmp24 = 2 * _tmp17
_tmp25 = _tmp14 * _tmp24
_tmp26 = 3 * _tmp20
_tmp27 = _self[10] * _tmp21 + _self[10] * _tmp26 + _self[9] * _tmp25 + _tmp13 * point[1, 0]
_tmp28 = _self[4] - _tmp5
_tmp29 = _tmp11 * _tmp16
_tmp30 = 6 * _self[9]
_tmp31 = _tmp2 * _tmp30
_tmp32 = _tmp29 * _tmp31
_tmp33 = 4 * _tmp14
_tmp34 = _self[10] * _tmp33
_tmp35 = _tmp29 * _tmp34
_tmp36 = 2 * _self[9]
_tmp37 = _tmp1 * _tmp36
_tmp38 = _tmp29 * _tmp37
_tmp39 = _tmp12 * point[0, 0]
_tmp40 = _tmp18 * _tmp2
_tmp41 = _tmp29 * _tmp40
_tmp42 = _self[9] * _tmp33
_tmp43 = _tmp29 * _tmp42
_tmp44 = 6 * _self[10]
_tmp45 = _tmp1 * _tmp44
_tmp46 = _tmp29 * _tmp45
_tmp47 = _tmp12 * point[1, 0]
_tmp48 = _tmp29 * _tmp9
_tmp49 = _tmp11 / _tmp3 ** (3.0 / 2.0)
_tmp50 = _tmp15 / _tmp3**2
_tmp51 = _self[9] * point[0, 0]
_tmp52 = _self[10] * point[1, 0]
_tmp53 = 4 * _tmp50
_tmp54 = _tmp2 * _tmp53
_tmp55 = 6 * _tmp17
_tmp56 = _tmp50 * point[0, 0] ** 3
_tmp57 = (9.0 / 2.0) * _self[8] * _tmp6**8
_tmp58 = ((0.0 if _tmp0 + _tmp28 == 0 else math.copysign(1, _tmp0 + _tmp28)) + 1) / (
_tmp3 + point[2, 0] ** 2
)
_tmp59 = _tmp58 * point[2, 0]
_tmp60 = _tmp57 * _tmp59
_tmp61 = (5.0 / 2.0) * _self[6] * _tmp6**4
_tmp62 = _tmp59 * _tmp61
_tmp63 = (7.0 / 2.0) * _self[7] * _tmp6**6
_tmp64 = _tmp59 * _tmp63
_tmp65 = (3.0 / 2.0) * _self[5] * _tmp6**2
_tmp66 = _tmp59 * _tmp65
_tmp67 = (1.0 / 2.0) * _tmp59
_tmp68 = (
_tmp39 * _tmp60 + _tmp39 * _tmp62 + _tmp39 * _tmp64 + _tmp39 * _tmp66 + _tmp39 * _tmp67
)
_tmp69 = _tmp29 * _tmp68
_tmp70 = _self[9] * point[1, 0]
_tmp71 = -_tmp14 * _tmp49 + _tmp19 * point[0, 0] + _tmp24 * _tmp70
_tmp72 = _tmp1 * _tmp53
_tmp73 = _tmp50 * point[1, 0] ** 3
_tmp74 = (
_tmp47 * _tmp60 + _tmp47 * _tmp62 + _tmp47 * _tmp64 + _tmp47 * _tmp66 + _tmp47 * _tmp67
)
_tmp75 = _tmp29 * _tmp74
_tmp76 = _tmp4 * _tmp58
_tmp77 = (
-_tmp57 * _tmp76
- _tmp61 * _tmp76
- _tmp63 * _tmp76
- _tmp65 * _tmp76
- 1.0 / 2.0 * _tmp76
)
_tmp78 = _tmp29 * _tmp77

# Output terms
_pixel = numpy.zeros(2)
_pixel[0] = _self[0] * _tmp23 + _self[2]
_pixel[1] = _self[1] * _tmp27 + _self[3]
_is_valid = max(0, (0.0 if _tmp28 == 0 else math.copysign(1, _tmp28)))
_pixel_D_cal = numpy.zeros((2, 10))
_pixel_D_cal[0, 0] = _tmp23
_pixel_D_cal[1, 0] = 0
_pixel_D_cal[0, 1] = 0
_pixel_D_cal[1, 1] = _tmp27
_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] = _self[0] * (
_tmp10 * _tmp32 + _tmp10 * _tmp35 + _tmp10 * _tmp38 + _tmp10 * _tmp39
)
_pixel_D_cal[1, 4] = _self[1] * (
_tmp10 * _tmp41 + _tmp10 * _tmp43 + _tmp10 * _tmp46 + _tmp10 * _tmp47
)
_pixel_D_cal[0, 5] = _self[0] * (
_tmp32 * _tmp7 + _tmp35 * _tmp7 + _tmp38 * _tmp7 + _tmp39 * _tmp7
)
_pixel_D_cal[1, 5] = _self[1] * (
_tmp41 * _tmp7 + _tmp43 * _tmp7 + _tmp46 * _tmp7 + _tmp47 * _tmp7
)
_pixel_D_cal[0, 6] = _self[0] * (
_tmp32 * _tmp8 + _tmp35 * _tmp8 + _tmp38 * _tmp8 + _tmp39 * _tmp8
)
_pixel_D_cal[1, 6] = _self[1] * (
_tmp41 * _tmp8 + _tmp43 * _tmp8 + _tmp46 * _tmp8 + _tmp47 * _tmp8
)
_pixel_D_cal[0, 7] = _self[0] * (
_tmp31 * _tmp48 + _tmp34 * _tmp48 + _tmp37 * _tmp48 + _tmp39 * _tmp9
)
_pixel_D_cal[1, 7] = _self[1] * (
_tmp40 * _tmp48 + _tmp42 * _tmp48 + _tmp45 * _tmp48 + _tmp47 * _tmp9
)
_pixel_D_cal[0, 8] = _self[0] * (_tmp20 + _tmp22)
_pixel_D_cal[1, 8] = _self[1] * _tmp25
_pixel_D_cal[0, 9] = _self[0] * _tmp25
_pixel_D_cal[1, 9] = _self[1] * (_tmp21 + _tmp26)
_pixel_D_point = numpy.zeros((2, 3))
_pixel_D_point[0, 0] = _self[0] * (
-2 * _tmp1 * _tmp50 * _tmp51
+ _tmp13
+ _tmp19 * point[1, 0]
- _tmp2 * _tmp49
- _tmp30 * _tmp56
+ _tmp32 * _tmp68
+ _tmp34 * _tmp69
+ _tmp37 * _tmp69
+ _tmp39 * _tmp68
+ _tmp51 * _tmp55
- _tmp52 * _tmp54
)
_pixel_D_point[1, 0] = _self[1] * (
-_tmp18 * _tmp56
+ _tmp40 * _tmp69
+ _tmp42 * _tmp69
- _tmp45 * _tmp50 * point[0, 0]
+ _tmp46 * _tmp68
+ _tmp47 * _tmp68
- _tmp54 * _tmp70
+ _tmp71
)
_pixel_D_point[0, 1] = _self[0] * (
-_self[10] * _tmp72 * point[0, 0]
- 6 * _tmp2 * _tmp50 * _tmp70
+ _tmp32 * _tmp74
+ _tmp34 * _tmp75
- _tmp36 * _tmp73
+ _tmp38 * _tmp74
+ _tmp39 * _tmp74
+ _tmp71
)
_pixel_D_point[1, 1] = _self[1] * (
-_tmp1 * _tmp49
+ _tmp13
+ _tmp24 * _tmp51
- _tmp40 * _tmp50 * point[1, 0]
+ _tmp41 * _tmp74
+ _tmp42 * _tmp75
- _tmp44 * _tmp73
+ _tmp46 * _tmp74
+ _tmp47 * _tmp74
- _tmp51 * _tmp72
+ _tmp52 * _tmp55
)
_pixel_D_point[0, 2] = _self[0] * (
_tmp31 * _tmp78 + _tmp34 * _tmp78 + _tmp37 * _tmp78 + _tmp39 * _tmp77
)
_pixel_D_point[1, 2] = _self[1] * (
_tmp40 * _tmp78 + _tmp42 * _tmp78 + _tmp45 * _tmp78 + _tmp47 * _tmp77
)
return _pixel, _is_valid, _pixel_D_cal, _pixel_D_point
```