tfg.rendering.camera.perspective.ray

Computes the 3d ray for a 2d point (the z component of the ray is 1).

tfg.rendering.camera.perspective.ray(
    point_2d: type_alias.TensorLike,
    focal: type_alias.TensorLike,
    principal_point: type_alias.TensorLike,
    name: str = 'perspective_ray'
) -> tf.Tensor

Computes the 3d ray $(r_x, r_y, 1)$ from the camera center to a 2d point $(x', y')$ on the image plane with

$$\begin{matrix} r_x = \frac{(x' - c_x)}{f_x}, & r_y = \frac{(y' - c_y)}{f_y}, & z = 1, \end{matrix}$$

where $(f_x, f_y)$ is the focal length and $(c_x, c_y)$ the principal point. The camera optical center is assumed to be at $(0, 0, 0)$.

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

Args
point_2d	A tensor of shape [A1, ..., An, 2], where the last dimension represents 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_ray".

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

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