sym.atan_camera_cal module#

class ATANCameraCal(focal_length, principal_point, omega)[source]#

Bases: object

Autogenerated Python 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

Parameters:
data: List[float]#
focal_length()[source]#

Return the focal length.

Return type:

ndarray

principal_point()[source]#

Return the principal point.

Return type:

ndarray

pixel_from_camera_point(point, epsilon)[source]#

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

Parameters:
Return type:

Tuple[ndarray, float]

pixel_from_camera_point_with_jacobians(point, epsilon)[source]#

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

Parameters:
Return type:

Tuple[ndarray, float, ndarray, ndarray]

camera_ray_from_pixel(pixel, epsilon)[source]#

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

Parameters:
Return type:

Tuple[ndarray, float]

camera_ray_from_pixel_with_jacobians(pixel, epsilon)[source]#

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

Parameters:
Return type:

Tuple[ndarray, float, ndarray, ndarray]

static storage_dim()[source]#
Return type:

int

to_storage()[source]#
Return type:

List[float]

classmethod from_storage(vec)[source]#
Parameters:

vec (Sequence[float]) –

Return type:

ATANCameraCal

static tangent_dim()[source]#
Return type:

int

classmethod from_tangent(vec, epsilon=1e-08)[source]#
Parameters:
Return type:

ATANCameraCal

to_tangent(epsilon=1e-08)[source]#
Parameters:

epsilon (float) –

Return type:

ndarray

retract(vec, epsilon=1e-08)[source]#
Parameters:
Return type:

ATANCameraCal

local_coordinates(b, epsilon=1e-08)[source]#
Parameters:
Return type:

ndarray

interpolate(b, alpha, epsilon=1e-08)[source]#
Parameters:
Return type:

ATANCameraCal