Created
November 27, 2024 12:17
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EWA Splatting Jacobian sympy
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| import sympy as sp | |
| fx, fy, cx, cy, x, y, z = sp.symbols('fx fy cx cy x y z') | |
| K = sp.Matrix([[fx, 0, cx], | |
| [0, fy, cy], | |
| [0, 0, 1]]) | |
| p = sp.Matrix([x, y, z]) | |
| # project point | |
| p_proj_ = K @ p | |
| d = p_proj_[2] | |
| p_proj = p_proj_ / p_proj_[2] | |
| J = sp.diff(p_proj, p) | |
| J_flat = sp.transpose(J.reshape(3, 3)) | |
| print(sp.simplify(J_flat)) |
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