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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.
Note:
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.
|