sym.ops.double_sphere_camera_cal.camera_ops module#

class CameraOps[source]#

Bases: object

Python CameraOps implementation for symforce.cam.double_sphere_camera_cal.DoubleSphereCameraCal.

static focal_length(self)[source]#

Return the focal length.

Parameters:

self (DoubleSphereCameraCal) –

Return type:

ndarray

static principal_point(self)[source]#

Return the principal point.

Parameters:

self (DoubleSphereCameraCal) –

Return type:

ndarray

static pixel_from_camera_point(self, 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]

static pixel_from_camera_point_with_jacobians(self, 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]

static camera_ray_from_pixel(self, 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]

static camera_ray_from_pixel_with_jacobians(self, 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]