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# tfg.rendering.camera.perspective.ray

Computes the 3d ray for a 2d point (the z component of the ray is 1).

tfg.rendering.camera.perspective.ray(
point_2d,
focal,
principal_point,
name=None
)


Defined in rendering/camera/perspective.py.

Computes the 3d ray $$(r_x, r_y, 1)$$ from the camera center to a 2d point $$(x', y')$$ on the image plane with

$$\begin{matrix} r_x = \frac{(x' - c_x)}{f_x}, & r_y = \frac{(y' - c_y)}{f_y}, & z = 1, \end{matrix}$$

where $$(f_x, f_y)$$ is the focal length and $$(c_x, c_y)$$ the principal point. The camera optical center is assumed to be at $$(0, 0, 0)$$.

#### Note:

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

#### Args:

• point_2d: A tensor of shape [A1, ..., An, 2], where the last dimension represents a 2d point.
• 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_ray".

#### Returns:

A tensor of shape [A1, ..., An, 3], where the last dimension represents a 3d ray.

#### Raises:

• ValueError: If the shape of point_2d, focal, or principal_point is not supported.