# -----------------------------------------------------------------------------
# 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.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: 50
# 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[0, 0] ** 2
_tmp1 = point[1, 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**2 / _tmp2
_tmp8 = _self[10] * _tmp7
_tmp9 = 2 * point[0, 0] * point[1, 0]
_tmp10 = _self[9] * _tmp7
_tmp11 = _tmp6 / _tmp3
# Output terms
_pixel = numpy.zeros(2)
_pixel[0] = (
_self[0] * (3 * _tmp0 * _tmp10 + _tmp1 * _tmp10 + _tmp11 * point[0, 0] + _tmp8 * _tmp9)
+ _self[2]
)
_pixel[1] = (
_self[1] * (_tmp0 * _tmp8 + 3 * _tmp1 * _tmp8 + _tmp10 * _tmp9 + _tmp11 * 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: 324
# 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 (85)
_tmp0 = point[0, 0] * point[1, 0]
_tmp1 = point[0, 0] ** 2
_tmp2 = point[1, 0] ** 2
_tmp3 = _tmp1 + _tmp2 + epsilon
_tmp4 = math.sqrt(_tmp3)
_tmp5 = point[2, 0]
_tmp6 = math.atan2(_tmp4, _tmp5)
_tmp7 = -epsilon
_tmp8 = min(_tmp6, _self[4] + _tmp7)
_tmp9 = _tmp8**7
_tmp10 = _tmp8**3
_tmp11 = _tmp8**9
_tmp12 = _tmp8**5
_tmp13 = (
_self[5] * _tmp10 + _self[6] * _tmp12 + _self[7] * _tmp9 + _self[8] * _tmp11 + _tmp8
)
_tmp14 = _tmp13**2
_tmp15 = 1 / _tmp3
_tmp16 = _tmp14 * _tmp15
_tmp17 = 2 * _tmp16
_tmp18 = _tmp0 * _tmp17
_tmp19 = _tmp1 * _tmp16
_tmp20 = 3 * _tmp19
_tmp21 = _tmp16 * _tmp2
_tmp22 = 1 / _tmp4
_tmp23 = _tmp13 * _tmp22
_tmp24 = _self[10] * _tmp18 + _self[9] * _tmp20 + _self[9] * _tmp21 + _tmp23 * point[0, 0]
_tmp25 = 3 * _tmp21
_tmp26 = _self[10] * _tmp19 + _self[10] * _tmp25 + _self[9] * _tmp18 + _tmp23 * point[1, 0]
_tmp27 = _self[4] - _tmp6
_tmp28 = _tmp22 * point[0, 0]
_tmp29 = _tmp13 * _tmp15
_tmp30 = 2 * _self[9]
_tmp31 = _tmp2 * _tmp30
_tmp32 = _tmp29 * _tmp31
_tmp33 = 6 * _self[9]
_tmp34 = _tmp1 * _tmp29
_tmp35 = _tmp33 * _tmp34
_tmp36 = 4 * _tmp0
_tmp37 = _tmp29 * _tmp36
_tmp38 = _tmp10 * _tmp37
_tmp39 = _tmp22 * point[1, 0]
_tmp40 = 6 * _self[10]
_tmp41 = _tmp2 * _tmp40
_tmp42 = _tmp29 * _tmp41
_tmp43 = 2 * _self[10]
_tmp44 = _tmp34 * _tmp43
_tmp45 = _tmp12 * _tmp34
_tmp46 = _tmp12 * _tmp37
_tmp47 = _tmp34 * _tmp9
_tmp48 = _tmp37 * _tmp9
_tmp49 = _tmp11 * _tmp37
_tmp50 = _self[10] * point[1, 0]
_tmp51 = _tmp14 / _tmp3**2
_tmp52 = 4 * _tmp51
_tmp53 = _tmp1 * _tmp52
_tmp54 = _self[9] * point[0, 0]
_tmp55 = 6 * _tmp16
_tmp56 = _tmp51 * point[0, 0] ** 3
_tmp57 = ((0.0 if _tmp27 + _tmp7 == 0 else math.copysign(1, _tmp27 + _tmp7)) + 1) / (
_tmp3 + _tmp5**2
)
_tmp58 = _tmp5 * _tmp57
_tmp59 = (7.0 / 2.0) * _self[7] * _tmp8**6
_tmp60 = _tmp58 * _tmp59
_tmp61 = (5.0 / 2.0) * _self[6] * _tmp8**4
_tmp62 = _tmp58 * _tmp61
_tmp63 = (1.0 / 2.0) * _tmp58
_tmp64 = (9.0 / 2.0) * _self[8] * _tmp8**8
_tmp65 = _tmp58 * _tmp64
_tmp66 = (3.0 / 2.0) * _self[5] * _tmp8**2
_tmp67 = _tmp58 * _tmp66
_tmp68 = (
_tmp28 * _tmp60 + _tmp28 * _tmp62 + _tmp28 * _tmp63 + _tmp28 * _tmp65 + _tmp28 * _tmp67
)
_tmp69 = _tmp29 * _tmp68
_tmp70 = _self[10] * _tmp36
_tmp71 = _tmp13 / _tmp3 ** (3.0 / 2.0)
_tmp72 = _self[9] * point[1, 0]
_tmp73 = _self[9] * _tmp36
_tmp74 = _self[10] * point[0, 0]
_tmp75 = -_tmp0 * _tmp71 + _tmp17 * _tmp72 + _tmp17 * _tmp74
_tmp76 = (
_tmp39 * _tmp60 + _tmp39 * _tmp62 + _tmp39 * _tmp63 + _tmp39 * _tmp65 + _tmp39 * _tmp67
)
_tmp77 = _tmp2 * _tmp52
_tmp78 = _tmp1 * _tmp51
_tmp79 = _tmp37 * _tmp76
_tmp80 = _tmp51 * point[1, 0] ** 3
_tmp81 = _tmp4 * _tmp57
_tmp82 = (
-_tmp59 * _tmp81
- _tmp61 * _tmp81
- _tmp64 * _tmp81
- _tmp66 * _tmp81
- 1.0 / 2.0 * _tmp81
)
_tmp83 = _tmp29 * _tmp82
_tmp84 = _tmp1 * _tmp83
# Output terms
_pixel = numpy.zeros(2)
_pixel[0] = _self[0] * _tmp24 + _self[2]
_pixel[1] = _self[1] * _tmp26 + _self[3]
_is_valid = max(0, (0.0 if _tmp27 == 0 else math.copysign(1, _tmp27)))
_pixel_D_cal = numpy.zeros((2, 10))
_pixel_D_cal[0, 0] = _tmp24
_pixel_D_cal[1, 0] = 0
_pixel_D_cal[0, 1] = 0
_pixel_D_cal[1, 1] = _tmp26
_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] * (
_self[10] * _tmp38 + _tmp10 * _tmp28 + _tmp10 * _tmp32 + _tmp10 * _tmp35
)
_pixel_D_cal[1, 4] = _self[1] * (
_self[9] * _tmp38 + _tmp10 * _tmp39 + _tmp10 * _tmp42 + _tmp10 * _tmp44
)
_pixel_D_cal[0, 5] = _self[0] * (
_self[10] * _tmp46 + _tmp12 * _tmp28 + _tmp12 * _tmp32 + _tmp33 * _tmp45
)
_pixel_D_cal[1, 5] = _self[1] * (
_self[9] * _tmp46 + _tmp12 * _tmp39 + _tmp12 * _tmp42 + _tmp43 * _tmp45
)
_pixel_D_cal[0, 6] = _self[0] * (
_self[10] * _tmp48 + _tmp28 * _tmp9 + _tmp32 * _tmp9 + _tmp33 * _tmp47
)
_pixel_D_cal[1, 6] = _self[1] * (
_self[9] * _tmp48 + _tmp39 * _tmp9 + _tmp42 * _tmp9 + _tmp43 * _tmp47
)
_pixel_D_cal[0, 7] = _self[0] * (
_self[10] * _tmp49 + _tmp11 * _tmp28 + _tmp11 * _tmp32 + _tmp11 * _tmp35
)
_pixel_D_cal[1, 7] = _self[1] * (
_self[9] * _tmp49 + _tmp11 * _tmp39 + _tmp11 * _tmp42 + _tmp11 * _tmp44
)
_pixel_D_cal[0, 8] = _self[0] * (_tmp20 + _tmp21)
_pixel_D_cal[1, 8] = _self[1] * _tmp18
_pixel_D_cal[0, 9] = _self[0] * _tmp18
_pixel_D_cal[1, 9] = _self[1] * (_tmp19 + _tmp25)
_pixel_D_point = numpy.zeros((2, 3))
_pixel_D_point[0, 0] = _self[0] * (
-_tmp1 * _tmp71
+ _tmp17 * _tmp50
- 2 * _tmp2 * _tmp51 * _tmp54
+ _tmp23
+ _tmp28 * _tmp68
+ _tmp32 * _tmp68
- _tmp33 * _tmp56
+ _tmp35 * _tmp68
- _tmp50 * _tmp53
+ _tmp54 * _tmp55
+ _tmp69 * _tmp70
)
_pixel_D_point[1, 0] = _self[1] * (
_tmp39 * _tmp68
- _tmp41 * _tmp51 * point[0, 0]
+ _tmp41 * _tmp69
- _tmp43 * _tmp56
+ _tmp44 * _tmp68
- _tmp53 * _tmp72
+ _tmp69 * _tmp73
+ _tmp75
)
_pixel_D_point[0, 1] = _self[0] * (
_self[10] * _tmp79
+ _tmp28 * _tmp76
- _tmp30 * _tmp80
+ _tmp32 * _tmp76
- _tmp33 * _tmp78 * point[1, 0]
+ _tmp35 * _tmp76
- _tmp74 * _tmp77
+ _tmp75
)
_pixel_D_point[1, 1] = _self[1] * (
_self[9] * _tmp79
+ _tmp17 * _tmp54
- _tmp2 * _tmp71
+ _tmp23
+ _tmp39 * _tmp76
- _tmp40 * _tmp80
+ _tmp42 * _tmp76
+ _tmp44 * _tmp76
+ _tmp50 * _tmp55
- 2 * _tmp50 * _tmp78
- _tmp54 * _tmp77
)
_pixel_D_point[0, 2] = _self[0] * (
_tmp28 * _tmp82 + _tmp31 * _tmp83 + _tmp33 * _tmp84 + _tmp70 * _tmp83
)
_pixel_D_point[1, 2] = _self[1] * (
_tmp39 * _tmp82 + _tmp41 * _tmp83 + _tmp43 * _tmp84 + _tmp73 * _tmp83
)
return _pixel, _is_valid, _pixel_D_cal, _pixel_D_point