sym.equirectangular_camera_cal module

class EquirectangularCameraCal(focal_length, principal_point)

Bases: object

Autogenerated Python implementation of symforce.cam.equirectangular_camera_cal.EquirectangularCameraCal.

Equirectangular camera model with parameters [fx, fy, cx, cy].

(fx, fy) representing focal length; (cx, cy) representing principal point.

Parameters:

• focal_length (T.Union[T.Sequence[float], numpy.ndarray]) –

• principal_point (T.Union[T.Sequence[float], numpy.ndarray]) –

data: List[float]

focal_length()

Return the focal length.

Return type:

ndarray

principal_point()

Return the principal point.

Return type:

ndarray

pixel_from_camera_point(point, epsilon)

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:

• point (EquirectangularCameraCal) –

• epsilon (ndarray) –

Return type:

Tuple[ndarray, float]

pixel_from_camera_point_with_jacobians(point, epsilon)

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:

• point (EquirectangularCameraCal) –

• epsilon (ndarray) –

Return type:

Tuple[ndarray, float, ndarray, ndarray]

camera_ray_from_pixel(pixel, epsilon)

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:

• pixel (EquirectangularCameraCal) –

• epsilon (ndarray) –

Return type:

Tuple[ndarray, float]

camera_ray_from_pixel_with_jacobians(pixel, epsilon)

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:

• pixel (EquirectangularCameraCal) –

• epsilon (ndarray) –

Return type:

Tuple[ndarray, float, ndarray, ndarray]

static storage_dim()

Return type:

int

to_storage()

Return type:

List[float]

classmethod from_storage(vec)

Parameters:

vec (Sequence[float]) –

Return type:

EquirectangularCameraCal

static tangent_dim()

Return type:

int

classmethod from_tangent(vec, epsilon=1e-08)

Parameters:

• vec (ndarray) –

• epsilon (float) –

Return type:

EquirectangularCameraCal

to_tangent(epsilon=1e-08)

Parameters:

epsilon (float) –

Return type:

ndarray

retract(vec, epsilon=1e-08)

Parameters:

• vec (ndarray) –

• epsilon (float) –

Return type:

EquirectangularCameraCal

local_coordinates(b, epsilon=1e-08)

Parameters:

• b (EquirectangularCameraCal) –

• epsilon (float) –

Return type:

ndarray

interpolate(b, alpha, epsilon=1e-08)

Parameters:

• b (EquirectangularCameraCal) –

• alpha (float) –

• epsilon (float) –

Return type:

EquirectangularCameraCal