tfg.rendering.camera.perspective.unproject

Unprojects a 2d point in 3d.

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

Unprojects a 2d point $(x', y')$ to a 3d point $(x, y, z)$ knowing the depth $z$ with

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

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

In the following, A1 to An are optional batch dimensions.

Args
`point_2d`	A tensor of shape `[A1, ..., An, 2]`, where the last dimension represents a 2d point to unproject.
`depth`	A tensor of shape `[A1, ..., An, 1]`, where the last dimension represents the depth of 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_unproject".

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

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

Args