tfg.rendering.camera.perspective.project

Projects a 3d point onto the 2d camera plane.

tfg.rendering.camera.perspective.project(
    point_3d: type_alias.TensorLike,
    focal: type_alias.TensorLike,
    principal_point: type_alias.TensorLike,
    name: str = 'perspective_project'
) -> tf.Tensor

Projects a 3d point \((x, y, z)\) to a 2d point \((x', y')\) onto the image plane with

\[ \begin{matrix} x' = \frac{f_x}{z}x + c_x, & y' = \frac{f_y}{z}y + c_y, \end{matrix} \]

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 that must be broadcast compatible.

point_3d A tensor of shape [A1, ..., An, 3], where the last dimension represents a 3d point to project.
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_project".

A tensor of shape [A1, ..., An, 2], where the last dimension represents a 2d point.

ValueError If the shape of point_3d, focal, or principal_point is not supported.