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tfg.rendering.camera.perspective.project

Projects a 3d point onto the 2d camera plane.

tfg.rendering.camera.perspective.project(
    point_3d,
    focal,
    principal_point,
    name=None
)

Defined in rendering/camera/perspective.py.

Projects a 3d point \((x, y, z)\) to a 2d point \((x', y')\) onto the image plane with

$$ \begin{matrix} x' = \frac{f_x}{z}x + c_x, & y' = \frac{f_y}{z}y + c_y, \end{matrix} $$

where \((f_x, f_y)\) is the focal length and \((c_x, c_y)\) the principal point.

Note:

In the following, A1 to An are optional batch dimensions that must be broadcast compatible.

Args:

  • point_3d: A tensor of shape [A1, ..., An, 3], where the last dimension represents a 3d point to project.
  • focal: A tensor of shape [A1, ..., An, 2], where the last dimension represents a camera focal length.
  • principal_point: A tensor of shape [A1, ..., An, 2], where the last dimension represents a camera principal point.
  • name: A name for this op that defaults to "perspective_project".

Returns:

A tensor of shape [A1, ..., An, 2], where the last dimension represents a 2d point.

Raises:

  • ValueError: If the shape of point_3d, focal, or principal_point is not supported.