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tfg.rendering.camera.quadratic_radial_distortion.distortion_factor

Calculates a quadratic distortion factor given squared radii.

tfg.rendering.camera.quadratic_radial_distortion.distortion_factor(
    squared_radius, distortion_coefficient,
    name='quadratic_radial_distortion_distortion_factor'
)

Given a vector describing a location in camera space in homogeneous coordinates, (x/z, y/z, 1), squared_radius is r^2 = (x/z)^2 + (y/z)^2. distortion_factor multiplies x/z and y/z to obtain the distorted coordinates. In this function, distortion_factor is given by 1.0 + distortion_coefficient * squared_radius.

Note:

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

squared_radius A tensor of shape [A1, ..., An, H, W], containing the radii of the image pixels computed as (x/z)^2 + (y/z)^2. We use squared radius rather than the radius itself to avoid an unnecessary sqrt, which may introduce gradient singularities. The non-negativity of squared radius is only enforced in debug mode.
distortion_coefficient A scalar or a tensor of shape [A1, ..., An], which contains the distortion coefficients of each image.
name A name for this op. Defaults to "quadratic_radial_distortion_distortion_factor".

distortion_factor A tensor of shape [A1, ..., An, H, W], the correction factor that should multiply the projective coordinates (x/z) and (y/z) to apply the distortion.
overflow_mask A boolean tensor of shape [A1, ..., An, H, W], True where squared_radius is beyond the range where the distortion function is monotonically increasing. Wherever overflow_mask is True, distortion_factor's value is meaningless.