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: type_alias.TensorLike,
    focal: type_alias.TensorLike,
    principal_point: type_alias.TensorLike,
    name: str = 'perspective_ray'
) -> tf.Tensor

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 \((0, 0, 0)\).

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

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".

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

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