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import cv2 |
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import numpy as np |
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import chumpy as ch |
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from chumpy import Ch, depends_on |
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from chumpy.utils import col |
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from opendr.geometry import Rodrigues |
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class OrthoProjectPoints(Ch): |
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terms = 'near', 'far', 'width', 'height' |
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dterms = 'v', 'rt', 't', 'left', 'right', 'bottom', 'top' |
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def compute_r(self): |
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return self.r_and_derivatives.r |
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def compute_dr_wrt(self, wrt): |
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if wrt not in [self.v, self.rt, self.t, self.left, self.right, self.bottom, self.top]: |
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return None |
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return self.r_and_derivatives.dr_wrt(wrt) |
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@depends_on('t', 'rt') |
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def view_mtx(self): |
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R = cv2.Rodrigues(self.rt.r)[0] |
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return np.hstack((R, col(self.t.r))) |
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@property |
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def r_and_derivatives(self): |
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tmp = self.v.dot(Rodrigues(self.rt)) + self.t |
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return ch.hstack(( |
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col(2. / (self.right - self.left) * tmp[:, 0] - (self.right + self.left) / (self.right - self.left) + 1.) * self.width / 2., |
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col(2. / (self.bottom - self.top) * tmp[:, 1] - (self.bottom + self.top) / (self.bottom - self.top) + 1.) * self.height / 2., |
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)) |
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