Function unproject

flowmap/model/projection.py:76–90

Unproject 2D camera coordinates with the given Z values.

(
    coordinates: Float[Tensor, "*#batch dim"],
    z: Float[Tensor, "*#batch"],
    intrinsics: Float[Tensor, "*#batch dim+1 dim+1"],
)

def unproject(
    coordinates: Float[Tensor, "*#batch dim"],
    z: Float[Tensor, "*#batch"],
    intrinsics: Float[Tensor, "*#batch dim+1 dim+1"],
) -> Float[Tensor, "*batch dim+1"]:
    """Unproject 2D camera coordinates with the given Z values."""

    # Apply the inverse intrinsics to the coordinates.
    coordinates = homogenize_points(coordinates)
    ray_directions = einsum(
        intrinsics.inverse(), coordinates, "... i j, ... j -> ... i"
    )

    # Apply the supplied depth values.
    return ray_directions * z[..., None]


def sample_image_grid(