sym.ops.spherical_camera_cal.lie_group_ops module

class LieGroupOps

Bases: object

Python LieGroupOps implementation for symforce.cam.spherical_camera_cal.SphericalCameraCal.

static from_tangent(vec, epsilon)

Parameters:

• vec (ndarray)

• epsilon (float)

Return type:

SphericalCameraCal

static to_tangent(a, epsilon)

Parameters:

• a (SphericalCameraCal)

• epsilon (float)

Return type:

ndarray

static retract(a, vec, epsilon)

Parameters:

• a (SphericalCameraCal)

• vec (ndarray)

• epsilon (float)

Return type:

SphericalCameraCal

static local_coordinates(a, b, epsilon)

Parameters:

• a (SphericalCameraCal)

• b (SphericalCameraCal)

• epsilon (float)

Return type:

ndarray

static interpolate(a, b, alpha, epsilon)

Parameters:

• a (SphericalCameraCal)

• b (SphericalCameraCal)

• alpha (float)

• epsilon (float)

Return type:

SphericalCameraCal