tfg.rendering.camera.perspective.unproject

Unprojects a 2d point in 3d.

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

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.