symforce.cam.camera_cal module

class CameraCal(focal_length, principal_point, distortion_coeffs=())

Bases: Storage

Base class for symbolic camera models.

Parameters:

• focal_length (Sequence[float]) –

• principal_point (Sequence[float]) –

• distortion_coeffs (Sequence[float]) –

CameraCalT

alias of TypeVar(‘CameraCalT’, bound=CameraCal)

NUM_DISTORTION_COEFFS = 0

__init__(focal_length, principal_point, distortion_coeffs=())

Parameters:

• focal_length (Sequence[float]) –

• principal_point (Sequence[float]) –

• distortion_coeffs (Sequence[float]) –

classmethod from_distortion_coeffs(focal_length, principal_point, distortion_coeffs=())

Construct a Camera Cal of type cls from the focal_length, principal_point, and distortion_coeffs.

Note, some subclasses may not allow symbolic arguments unless additional keyword arguments are passed in.

Parameters:

• cls (Type[~CameraCalT]) –

• focal_length (Sequence[float]) –

• principal_point (Sequence[float]) –

• distortion_coeffs (Sequence[float]) –

Return type:

~CameraCalT

classmethod storage_order()

Return list of the names of values returned in the storage paired with the dimension of each value.

Return type:

Tuple[Tuple[str, int], …]

classmethod storage_dim()

Dimension of underlying storage

Return type:

int

to_storage()

Flat list representation of the underlying storage, length of STORAGE_DIM. This is used purely for plumbing, it is NOT like a tangent space.

Return type:

List[float]

classmethod from_storage(vec)

Construct from a flat list representation. Opposite of .to_storage().

Parameters:

• cls (Type[~CameraCalT]) –

• vec (Sequence[float]) –

Return type:

~CameraCalT

classmethod symbolic(name, **kwargs)

Construct a symbolic element with the given name prefix. Kwargs are forwarded to sf.Symbol (for example, sympy assumptions).

Parameters:

• cls (Type[~CameraCalT]) –

• name (str) –

• kwargs (Any) –

Return type:

~CameraCalT

parameters()

Return type:

List[float]

pixel_from_camera_point(point, epsilon=0.0)

Project a 3D point in the camera frame into 2D pixel coordinates.

Returns:

(x, y) coordinate in pixels if valid is_valid: 1 if the operation is within bounds else 0

Return type:

pixel

Parameters:

• point (Matrix31) –

• epsilon (float) –

camera_ray_from_pixel(pixel, epsilon=0.0)

Backproject a 2D pixel coordinate into a 3D ray in the camera frame.

TODO(hayk): Add a normalize boolean argument? Like in cam.Camera

Returns:

The ray in the camera frame (NOT normalized) is_valid: 1 if the operation is within bounds else 0

Return type:

camera_ray

Parameters:

• pixel (Matrix21) –

• epsilon (float) –

classmethod has_camera_ray_from_pixel()

Returns True if cls has implemented the method camera_ray_from_pixel, and False otherwise.

Return type:

bool