"""
Util functions implementing the camera
@@batch_orth_proj_idrot
"""
import tensorflow as tf
def batch_orth_proj_idrot(X, camera, name=None):
"""
X is N x num_points x 3
camera is N x 3
same as applying orth_proj_idrot to each N
"""
with tf.variable_scope(name, "batch_orth_proj_idrot", [X, camera]):
# TODO check X dim size.
# tf.Assert(X.shape[2] == 3, [X])
camera = tf.reshape(camera, [-1, 1, 3], name="cam_adj_shape")
X_trans = X[:, :, :2] + camera[:, :, 1:]
shape = tf.shape(X_trans)
return tf.reshape(
camera[:, :, 0] * tf.reshape(X_trans, [shape[0], -1]), shape)
