# -----------------------------------------------------------------------------
# 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: 30
# 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 (4)
_tmp0 = math.sqrt(epsilon + point[0, 0] ** 2 + point[1, 0] ** 2)
_tmp1 = math.atan2(_tmp0, point[2, 0])
_tmp2 = min(_tmp1, _self[4] - epsilon)
_tmp3 = (
_self[5] * _tmp2**3
+ _self[6] * _tmp2**5
+ _self[7] * _tmp2**7
+ _self[8] * _tmp2**9
+ _tmp2
) / _tmp0
# Output terms
_pixel = numpy.zeros(2)
_pixel[0] = _self[0] * _tmp3 * point[0, 0] + _self[2]
_pixel[1] = _self[1] * _tmp3 * point[1, 0] + _self[3]
_is_valid = max(0, (0.0 if _self[4] - _tmp1 == 0 else math.copysign(1, _self[4] - _tmp1)))
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: 129
# 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 (40)
_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 = _tmp13 * point[0, 0]
_tmp15 = _tmp13 * point[1, 0]
_tmp16 = _self[4] - _tmp5
_tmp17 = _self[0] * point[0, 0]
_tmp18 = _tmp12 * _tmp17
_tmp19 = _self[1] * point[1, 0]
_tmp20 = _tmp12 * _tmp19
_tmp21 = _tmp12 * _tmp9
_tmp22 = (9.0 / 2.0) * _self[8] * _tmp6**8
_tmp23 = ((0.0 if _tmp0 + _tmp16 == 0 else math.copysign(1, _tmp0 + _tmp16)) + 1) / (
_tmp3 + point[2, 0] ** 2
)
_tmp24 = _tmp12 * point[2, 0]
_tmp25 = _tmp23 * _tmp24
_tmp26 = _tmp22 * _tmp25
_tmp27 = (5.0 / 2.0) * _self[6] * _tmp6**4
_tmp28 = _tmp25 * _tmp27
_tmp29 = (7.0 / 2.0) * _self[7] * _tmp6**6
_tmp30 = _tmp25 * _tmp29
_tmp31 = (3.0 / 2.0) * _self[5] * _tmp6**2
_tmp32 = _tmp25 * _tmp31
_tmp33 = (1.0 / 2.0) * _tmp23
_tmp34 = _tmp24 * _tmp33
_tmp35 = (
_tmp26 * point[0, 0]
+ _tmp28 * point[0, 0]
+ _tmp30 * point[0, 0]
+ _tmp32 * point[0, 0]
+ _tmp34 * point[0, 0]
)
_tmp36 = _tmp11 / _tmp3 ** (3.0 / 2.0)
_tmp37 = (
_tmp26 * point[1, 0]
+ _tmp28 * point[1, 0]
+ _tmp30 * point[1, 0]
+ _tmp32 * point[1, 0]
+ _tmp34 * point[1, 0]
)
_tmp38 = _tmp23 * _tmp4
_tmp39 = _tmp12 * (
-_tmp22 * _tmp38 - _tmp27 * _tmp38 - _tmp29 * _tmp38 - _tmp31 * _tmp38 - _tmp33 * _tmp4
)
# Output terms
_pixel = numpy.zeros(2)
_pixel[0] = _self[0] * _tmp14 + _self[2]
_pixel[1] = _self[1] * _tmp15 + _self[3]
_is_valid = max(0, (0.0 if _tmp16 == 0 else math.copysign(1, _tmp16)))
_pixel_D_cal = numpy.zeros((2, 8))
_pixel_D_cal[0, 0] = _tmp14
_pixel_D_cal[1, 0] = 0
_pixel_D_cal[0, 1] = 0
_pixel_D_cal[1, 1] = _tmp15
_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] = _tmp10 * _tmp18
_pixel_D_cal[1, 4] = _tmp10 * _tmp20
_pixel_D_cal[0, 5] = _tmp18 * _tmp7
_pixel_D_cal[1, 5] = _tmp20 * _tmp7
_pixel_D_cal[0, 6] = _tmp18 * _tmp8
_pixel_D_cal[1, 6] = _tmp20 * _tmp8
_pixel_D_cal[0, 7] = _tmp17 * _tmp21
_pixel_D_cal[1, 7] = _tmp19 * _tmp21
_pixel_D_point = numpy.zeros((2, 3))
_pixel_D_point[0, 0] = _self[0] * _tmp13 - _self[0] * _tmp2 * _tmp36 + _tmp18 * _tmp35
_pixel_D_point[1, 0] = -_tmp19 * _tmp36 * point[0, 0] + _tmp20 * _tmp35
_pixel_D_point[0, 1] = -_tmp17 * _tmp36 * point[1, 0] + _tmp18 * _tmp37
_pixel_D_point[1, 1] = -_self[1] * _tmp1 * _tmp36 + _self[1] * _tmp13 + _tmp20 * _tmp37
_pixel_D_point[0, 2] = _tmp17 * _tmp39
_pixel_D_point[1, 2] = _tmp19 * _tmp39
return _pixel, _is_valid, _pixel_D_cal, _pixel_D_point