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8870024 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 | #!/usr/bin/env python2
# -*- coding: utf-8 -*-
import cv2
import numpy as np
import chumpy as ch
from chumpy import Ch, depends_on
from chumpy.utils import col
from opendr.geometry import Rodrigues
class OrthoProjectPoints(Ch):
terms = 'near', 'far', 'width', 'height'
dterms = 'v', 'rt', 't', 'left', 'right', 'bottom', 'top'
def compute_r(self):
return self.r_and_derivatives.r
def compute_dr_wrt(self, wrt):
if wrt not in [self.v, self.rt, self.t, self.left, self.right, self.bottom, self.top]:
return None
return self.r_and_derivatives.dr_wrt(wrt)
@depends_on('t', 'rt')
def view_mtx(self):
R = cv2.Rodrigues(self.rt.r)[0]
return np.hstack((R, col(self.t.r)))
@property
def r_and_derivatives(self):
tmp = self.v.dot(Rodrigues(self.rt)) + self.t
return ch.hstack((
col(2. / (self.right - self.left) * tmp[:, 0] - (self.right + self.left) / (self.right - self.left) + 1.) * self.width / 2.,
col(2. / (self.bottom - self.top) * tmp[:, 1] - (self.bottom + self.top) / (self.bottom - self.top) + 1.) * self.height / 2.,
))
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