symforce.cam.equirectangular_camera_cal module¶
- class EquirectangularCameraCal(focal_length, principal_point, distortion_coeffs=())[source]¶
Bases:
CameraCal
Equirectangular camera model with parameters [fx, fy, cx, cy]. (fx, fy) representing focal length; (cx, cy) representing principal point.
- Parameters:
focal_length (
Sequence
[float
]) –principal_point (
Sequence
[float
]) –distortion_coeffs (
Sequence
[float
]) –
- NUM_DISTORTION_COEFFS = 0¶
- pixel_from_camera_point(point, epsilon=0.0)[source]¶
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)[source]¶
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
) –