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.

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

Args
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".

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

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