Function points_cam2img

embodiedscan/structures/bbox_3d/utils.py:244–286

Project points in camera coordinates to image coordinates. Args: points_3d (Tensor or np.ndarray): Points in shape (N, 3). proj_mat (Tensor or np.ndarray): Transformation matrix between coordinates. with_depth (bool): Whether to keep depth in the output.

(points_3d: Union[Tensor, np.ndarray],
                   proj_mat: Union[Tensor, np.ndarray],
                   with_depth: bool = False)

@array_converter(apply_to=('points_3d', 'proj_mat'))
def points_cam2img(points_3d: Union[Tensor, np.ndarray],
                   proj_mat: Union[Tensor, np.ndarray],
                   with_depth: bool = False) -> Union[Tensor, np.ndarray]:
    """Project points in camera coordinates to image coordinates.

    Args:
        points_3d (Tensor or np.ndarray): Points in shape (N, 3).
        proj_mat (Tensor or np.ndarray): Transformation matrix between
            coordinates.
        with_depth (bool): Whether to keep depth in the output.
            Defaults to False.

    Returns:
        Tensor or np.ndarray: Points in image coordinates with shape [N, 2] if
        ``with_depth=False``, else [N, 3].
    """
    points_shape = list(points_3d.shape)
    points_shape[-1] = 1

    assert len(proj_mat.shape) == 2, \
        'The dimension of the projection matrix should be 2 ' \
        f'instead of {len(proj_mat.shape)}.'
    d1, d2 = proj_mat.shape[:2]
    assert (d1 == 3 and d2 == 3) or (d1 == 3 and d2 == 4) or \
        (d1 == 4 and d2 == 4), 'The shape of the projection matrix ' \
        f'({d1}*{d2}) is not supported.'
    if d1 == 3:
        proj_mat_expanded = torch.eye(4,
                                      device=proj_mat.device,
                                      dtype=proj_mat.dtype)
        proj_mat_expanded[:d1, :d2] = proj_mat
        proj_mat = proj_mat_expanded

    # previous implementation use new_zeros, new_one yields better results
    points_4 = torch.cat([points_3d, points_3d.new_ones(points_shape)], dim=-1)

    point_2d = points_4 @ proj_mat.T
    point_2d_res = point_2d[..., :2] / point_2d[..., 2:3]

    if with_depth:
        point_2d_res = torch.cat([point_2d_res, point_2d[..., 2:3]], dim=-1)

    return point_2d_res


@array_converter(apply_to=('points_3d', 'proj_mat'))