# -----------------------------------------------------------------------------
# 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
from __future__ import annotations
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: 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: 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: sym.SphericalCameraCal, point: numpy.ndarray, epsilon: float
) -> 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 = _tmp6 / _tmp3
_tmp11 = _self[9] * _tmp7
# Output terms
_pixel = numpy.zeros(2)
_pixel[0] = (
_self[0] * (3 * _tmp0 * _tmp11 + _tmp1 * _tmp11 + _tmp10 * point[0, 0] + _tmp8 * _tmp9)
+ _self[2]
)
_pixel[1] = (
_self[1] * (_tmp0 * _tmp8 + 3 * _tmp1 * _tmp8 + _tmp10 * point[1, 0] + _tmp11 * _tmp9)
+ _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: sym.SphericalCameraCal, point: numpy.ndarray, epsilon: float
) -> 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: 312
# 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 (76)
_tmp0 = 2 * _self[10]
_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**5
_tmp12 = _tmp8**9
_tmp13 = (
_self[5] * _tmp10 + _self[6] * _tmp11 + _self[7] * _tmp9 + _self[8] * _tmp12 + _tmp8
)
_tmp14 = _tmp13**2
_tmp15 = 1 / _tmp3
_tmp16 = _tmp14 * _tmp15
_tmp17 = point[0, 0] * point[1, 0]
_tmp18 = _tmp16 * _tmp17
_tmp19 = 1 / _tmp4
_tmp20 = _tmp13 * _tmp19
_tmp21 = _tmp1 * _tmp16
_tmp22 = 3 * _tmp21
_tmp23 = _tmp16 * _tmp2
_tmp24 = _self[9] * _tmp22 + _self[9] * _tmp23 + _tmp0 * _tmp18 + _tmp20 * point[0, 0]
_tmp25 = 2 * _self[9]
_tmp26 = 3 * _tmp23
_tmp27 = _self[10] * _tmp21 + _self[10] * _tmp26 + _tmp18 * _tmp25 + _tmp20 * point[1, 0]
_tmp28 = _self[4] - _tmp6
_tmp29 = _tmp13 * _tmp15
_tmp30 = _tmp10 * _tmp29
_tmp31 = _tmp2 * _tmp25
_tmp32 = 6 * _self[9]
_tmp33 = _tmp1 * _tmp32
_tmp34 = 4 * _tmp17
_tmp35 = _self[10] * _tmp34
_tmp36 = _tmp19 * point[0, 0]
_tmp37 = 6 * _self[10]
_tmp38 = _tmp2 * _tmp37
_tmp39 = _tmp0 * _tmp1
_tmp40 = _self[9] * _tmp34
_tmp41 = _tmp19 * point[1, 0]
_tmp42 = _tmp11 * _tmp29
_tmp43 = _tmp29 * _tmp9
_tmp44 = _tmp12 * _tmp29
_tmp45 = 2 * _tmp18
_tmp46 = _tmp1 * point[1, 0]
_tmp47 = _tmp14 / _tmp3**2
_tmp48 = 4 * _tmp47
_tmp49 = _self[10] * _tmp48
_tmp50 = _tmp2 * point[0, 0]
_tmp51 = _tmp13 / _tmp3 ** (3.0 / 2.0)
_tmp52 = (7.0 / 2.0) * _self[7] * _tmp8**6
_tmp53 = ((0.0 if _tmp28 + _tmp7 == 0 else math.copysign(1, _tmp28 + _tmp7)) + 1) / (
_tmp3 + _tmp5**2
)
_tmp54 = _tmp5 * _tmp53
_tmp55 = _tmp36 * _tmp54
_tmp56 = (1.0 / 2.0) * _tmp53
_tmp57 = _tmp5 * _tmp56
_tmp58 = (3.0 / 2.0) * _self[5] * _tmp8**2
_tmp59 = (5.0 / 2.0) * _self[6] * _tmp8**4
_tmp60 = (9.0 / 2.0) * _self[8] * _tmp8**8
_tmp61 = (
_tmp36 * _tmp57 + _tmp52 * _tmp55 + _tmp55 * _tmp58 + _tmp55 * _tmp59 + _tmp55 * _tmp60
)
_tmp62 = _tmp29 * _tmp61
_tmp63 = _tmp16 * point[1, 0]
_tmp64 = _tmp16 * point[0, 0]
_tmp65 = _tmp47 * point[0, 0] ** 3
_tmp66 = _self[9] * _tmp48
_tmp67 = _tmp0 * _tmp64 - _tmp17 * _tmp51 + _tmp25 * _tmp63
_tmp68 = _tmp46 * _tmp47
_tmp69 = _tmp41 * _tmp54
_tmp70 = (
_tmp41 * _tmp57 + _tmp52 * _tmp69 + _tmp58 * _tmp69 + _tmp59 * _tmp69 + _tmp60 * _tmp69
)
_tmp71 = _tmp29 * _tmp70
_tmp72 = _tmp47 * point[1, 0] ** 3
_tmp73 = _tmp4 * _tmp53
_tmp74 = (
-_tmp4 * _tmp56 - _tmp52 * _tmp73 - _tmp58 * _tmp73 - _tmp59 * _tmp73 - _tmp60 * _tmp73
)
_tmp75 = _tmp29 * _tmp74
# Output terms
_pixel = numpy.zeros(2)
_pixel[0] = _self[0] * _tmp24 + _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] = _tmp24
_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 * _tmp36 + _tmp30 * _tmp31 + _tmp30 * _tmp33 + _tmp30 * _tmp35
)
_pixel_D_cal[1, 4] = _self[1] * (
_tmp10 * _tmp41 + _tmp30 * _tmp38 + _tmp30 * _tmp39 + _tmp30 * _tmp40
)
_pixel_D_cal[0, 5] = _self[0] * (
_tmp11 * _tmp36 + _tmp31 * _tmp42 + _tmp33 * _tmp42 + _tmp35 * _tmp42
)
_pixel_D_cal[1, 5] = _self[1] * (
_tmp11 * _tmp41 + _tmp38 * _tmp42 + _tmp39 * _tmp42 + _tmp40 * _tmp42
)
_pixel_D_cal[0, 6] = _self[0] * (
_tmp31 * _tmp43 + _tmp33 * _tmp43 + _tmp35 * _tmp43 + _tmp36 * _tmp9
)
_pixel_D_cal[1, 6] = _self[1] * (
_tmp38 * _tmp43 + _tmp39 * _tmp43 + _tmp40 * _tmp43 + _tmp41 * _tmp9
)
_pixel_D_cal[0, 7] = _self[0] * (
_tmp12 * _tmp36 + _tmp31 * _tmp44 + _tmp33 * _tmp44 + _tmp35 * _tmp44
)
_pixel_D_cal[1, 7] = _self[1] * (
_tmp12 * _tmp41 + _tmp38 * _tmp44 + _tmp39 * _tmp44 + _tmp40 * _tmp44
)
_pixel_D_cal[0, 8] = _self[0] * (_tmp22 + _tmp23)
_pixel_D_cal[1, 8] = _self[1] * _tmp45
_pixel_D_cal[0, 9] = _self[0] * _tmp45
_pixel_D_cal[1, 9] = _self[1] * (_tmp21 + _tmp26)
_pixel_D_point = numpy.zeros((2, 3))
_pixel_D_point[0, 0] = _self[0] * (
_tmp0 * _tmp63
- _tmp1 * _tmp51
+ _tmp20
- _tmp25 * _tmp47 * _tmp50
+ _tmp31 * _tmp62
+ _tmp32 * _tmp64
- _tmp32 * _tmp65
+ _tmp33 * _tmp62
+ _tmp35 * _tmp62
+ _tmp36 * _tmp61
- _tmp46 * _tmp49
)
_pixel_D_point[1, 0] = _self[1] * (
-_tmp0 * _tmp65
- _tmp38 * _tmp47 * point[0, 0]
+ _tmp38 * _tmp62
+ _tmp39 * _tmp62
+ _tmp40 * _tmp62
+ _tmp41 * _tmp61
- _tmp46 * _tmp66
+ _tmp67
)
_pixel_D_point[0, 1] = _self[0] * (
-_tmp25 * _tmp72
+ _tmp31 * _tmp71
- _tmp32 * _tmp68
+ _tmp33 * _tmp71
+ _tmp35 * _tmp71
+ _tmp36 * _tmp70
- _tmp49 * _tmp50
+ _tmp67
)
_pixel_D_point[1, 1] = _self[1] * (
-_tmp0 * _tmp68
- _tmp2 * _tmp51
+ _tmp20
+ _tmp25 * _tmp64
+ _tmp37 * _tmp63
- _tmp37 * _tmp72
+ _tmp38 * _tmp71
+ _tmp39 * _tmp71
+ _tmp40 * _tmp71
+ _tmp41 * _tmp70
- _tmp50 * _tmp66
)
_pixel_D_point[0, 2] = _self[0] * (
_tmp31 * _tmp75 + _tmp33 * _tmp75 + _tmp35 * _tmp75 + _tmp36 * _tmp74
)
_pixel_D_point[1, 2] = _self[1] * (
_tmp38 * _tmp75 + _tmp39 * _tmp75 + _tmp40 * _tmp75 + _tmp41 * _tmp74
)
return _pixel, _is_valid, _pixel_D_cal, _pixel_D_point