Class sym::ATANCameraCal¶
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template<typename ScalarType>
class ATANCameraCal¶ Autogenerated C++ implementation of
symforce.cam.atan_camera_cal.ATANCameraCal.ATAN camera with 5 parameters [fx, fy, cx, cy, omega].
(fx, fy) representing focal length, (cx, cy) representing principal point, and omega representing the distortion parameter.
See here for more details: https://hal.inria.fr/inria-00267247/file/distcalib.pdf
Public Functions
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inline ATANCameraCal(const Eigen::Matrix<Scalar, 2, 1> &focal_length, const Eigen::Matrix<Scalar, 2, 1> &principal_point, const Scalar omega)¶
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inline explicit ATANCameraCal(const DataVec &data, bool normalize = true)¶
Construct from data vec
- Parameters:
normalize – Project to the manifold on construction. This ensures numerical stability as this constructor is called after each codegen operation. Constructing from a normalized vector may be faster, e.g. with
FromStorage.
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Eigen::Matrix<Scalar, 2, 1> PixelFromCameraPoint(const Eigen::Matrix<Scalar, 3, 1> &point, const Scalar epsilon, Scalar *const is_valid = nullptr) const¶
Project a 3D point in the camera frame into 2D pixel coordinates.
Returns: pixel: (x, y) coordinate in pixels if valid is_valid: 1 if the operation is within bounds else 0
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Eigen::Matrix<Scalar, 2, 1> PixelFromCameraPointWithJacobians(const Eigen::Matrix<Scalar, 3, 1> &point, const Scalar epsilon, Scalar *const is_valid = nullptr, Eigen::Matrix<Scalar, 2, 5> *const pixel_D_cal = nullptr, Eigen::Matrix<Scalar, 2, 3> *const pixel_D_point = nullptr) const¶
Project a 3D point in the camera frame into 2D pixel coordinates.
Returns: pixel: (x, y) coordinate in pixels if valid is_valid: 1 if the operation is within bounds else 0 pixel_D_cal: Derivative of pixel with respect to intrinsic calibration parameters pixel_D_point: Derivative of pixel with respect to point
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Eigen::Matrix<Scalar, 3, 1> CameraRayFromPixel(const Eigen::Matrix<Scalar, 2, 1> &pixel, const Scalar epsilon, Scalar *const is_valid = nullptr) const¶
Backproject a 2D pixel coordinate into a 3D ray in the camera frame.
Returns: camera_ray: The ray in the camera frame (NOT normalized) is_valid: 1 if the operation is within bounds else 0
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Eigen::Matrix<Scalar, 3, 1> CameraRayFromPixelWithJacobians(const Eigen::Matrix<Scalar, 2, 1> &pixel, const Scalar epsilon, Scalar *const is_valid = nullptr, Eigen::Matrix<Scalar, 3, 5> *const point_D_cal = nullptr, Eigen::Matrix<Scalar, 3, 2> *const point_D_pixel = nullptr) const¶
Backproject a 2D pixel coordinate into a 3D ray in the camera frame.
Returns: camera_ray: The ray in the camera frame (NOT normalized) is_valid: 1 if the operation is within bounds else 0 point_D_cal: Derivative of point with respect to intrinsic calibration parameters point_D_pixel: Derivation of point with respect to pixel
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template<typename ToScalar>
inline ATANCameraCal<ToScalar> Cast() const¶
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inline bool operator==(const ATANCameraCal &rhs) const¶
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inline bool operator!=(const ATANCameraCal &rhs) const¶
Public Static Functions
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static inline constexpr int32_t StorageDim()¶
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static inline ATANCameraCal FromStorage(const Scalar *const vec)¶
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inline ATANCameraCal(const Eigen::Matrix<Scalar, 2, 1> &focal_length, const Eigen::Matrix<Scalar, 2, 1> &principal_point, const Scalar omega)¶