CameraModelFOV¶
Summary¶
Base class for camera models.
Methods¶
ar¶
Signature: ar() -> ParameterHandle
clone¶
Signature: clone() -> CameraModelBase
Return deep copy of model.
cx¶
Signature: cx() -> ParameterHandle
cy¶
Signature: cy() -> ParameterHandle
f¶
Signature: f() -> ParameterHandle
get_constant_param_ids¶
Signature: get_constant_param_ids() -> list[int]
get_n_params¶
Signature: get_n_params() -> int
Return number of model parameters.
get_name¶
Signature: get_name() -> str
Return camera model name.
get_parameter_names¶
Signature: get_parameter_names() -> list[ParameterSpec]
get_ray_maps¶
Signature: get_ray_maps() -> tuple[ImageF32, ImageF32, ImageF32, ImageF32, ImageF32, ImageF32]
Return per-pixel ray origin and unit direction maps.
get_undistortion_maps¶
Signature: get_undistortion_maps() -> tuple[ImageF32, ImageF32, Matrix3d]
Return source-image remap coordinates and the virtual linear camera intrinsics matrix.
get_unprojection_maps¶
Signature: get_unprojection_maps() -> tuple[ImageF32, ImageF32, ImageF32]
Return 3-channel unit bearing-vector maps containing X, Y, and Z.
get_vals¶
Signature: get_vals() -> list[float]
has_param¶
Signature: has_param(name: str) -> bool
Return whether named parameter exists.
initialize¶
Signature: initialize(f: collections.abc.Sequence[collections.abc.Sequence[Point3]], ar: collections.abc.Sequence[collections.abc.Sequence[Point2]], cx: collections.abc.Sequence[Rotation], cy: collections.abc.Sequence[Translation], kappa: InitializationMethod = 0.0) -> bool
new_cost_function¶
Signature: new_cost_function(arg: Point2, /) -> None
Additional overloads
omega¶
Signature: omega() -> ParameterHandle
param¶
Signature: param(arg: int, /) -> ParameterHandle
Additional overloads
- param(arg: str, /) -> ParameterHandle
project_point¶
Signature: project_point(arg0: float, arg1: float, arg2: float, /) -> tuple[bool, float, float]
Project a 3D point; returns (ok, u, v).
regularization_function¶
Signature: regularization_function(arg: int, /) -> None
to_string¶
Signature: to_string() -> str
Return human-readable representation.
unproject_point¶
Signature: unproject_point(arg0: float, arg1: float, /) -> tuple[bool, float, float, float]
Unproject a pixel to a unit bearing vector; returns (ok, X, Y, Z).
unproject_ray¶
Signature: unproject_ray(arg0: float, arg1: float, /) -> tuple[bool, Point3, Point3]
Unproject a pixel to a full ray; returns (ok, origin, direction).
Properties¶
image_size¶
Type: ImageSize
parameters¶
Type: CameraParameters
valid_region¶
Type: ImageRegion