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<p class="caption" role="heading"><span class="caption-text">Examples</span></p>
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<p class="caption" role="heading"><span class="caption-text">symforce Reference</span></p>
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<p class="caption" role="heading"><span class="caption-text">sym Python Reference</span></p>
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<p class="caption" role="heading"><span class="caption-text">sym C++ Reference</span></p>
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<li class="toctree-l2"><a class="reference internal" href="../api-gen-cpp/class/classsym_1_1ATANCameraCal.html">Class sym::ATANCameraCal</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../api-gen-cpp/class/classsym_1_1PosedCamera.html">Class sym::PosedCamera</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../api-gen-cpp/file/double__sphere__camera__cal_2lie__group__ops_8cc.html">File lie_group_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="../api-gen-cpp/file/double__sphere__camera__cal_2lie__group__ops_8h.html">File lie_group_ops.h</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../api-gen-cpp/file/epsilon_8h.html">File epsilon.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="../api-gen-cpp/file/equirectangular__camera__cal_2group__ops_8cc.html">File group_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="../api-gen-cpp/file/equirectangular__camera__cal_2group__ops_8h.html">File group_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="../api-gen-cpp/file/equirectangular__camera__cal_2lie__group__ops_8cc.html">File lie_group_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="../api-gen-cpp/file/equirectangular__camera__cal_2lie__group__ops_8h.html">File lie_group_ops.h</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../api-gen-cpp/file/inverse__range__landmark__orthographic__gnc__factor_8h.html">File inverse_range_landmark_orthographic_gnc_factor.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="../api-gen-cpp/file/inverse__range__landmark__polynomial__gnc__factor_8h.html">File inverse_range_landmark_polynomial_gnc_factor.h</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../api-gen-cpp/file/lie__group__ops_8h.html">File lie_group_ops.h</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../api-gen-cpp/file/linear__camera__cal_2lie__group__ops_8cc.html">File lie_group_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="../api-gen-cpp/file/linear__camera__cal_2lie__group__ops_8h.html">File lie_group_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="../api-gen-cpp/file/linear__camera__cal_2storage__ops_8cc.html">File storage_ops.cc</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../api-gen-cpp/file/matrix_2lie__group__ops_8cc.html">File lie_group_ops.cc</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../api-gen-cpp/file/matrix_2storage__ops_8cc.html">File storage_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="../api-gen-cpp/file/matrix_2storage__ops_8h.html">File storage_ops.h</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../api-gen-cpp/file/orthographic__camera__cal_2lie__group__ops_8cc.html">File lie_group_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="../api-gen-cpp/file/orthographic__camera__cal_2lie__group__ops_8h.html">File lie_group_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="../api-gen-cpp/file/orthographic__camera__cal_2storage__ops_8cc.html">File storage_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="../api-gen-cpp/file/orthographic__camera__cal_2storage__ops_8h.html">File storage_ops.h</a></li>
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<article role="main" id="furo-main-content">
<section id="module-sym.equirectangular_camera_cal">
<span id="sym-equirectangular-camera-cal-module"></span><h1>sym.equirectangular_camera_cal module<a class="headerlink" href="#module-sym.equirectangular_camera_cal" title="Permalink to this heading">¶</a></h1>
<dl class="py class">
<dt class="sig sig-object py" id="sym.equirectangular_camera_cal.EquirectangularCameraCal">
<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">EquirectangularCameraCal</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">focal_length</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">principal_point</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../_modules/sym/equirectangular_camera_cal.html#EquirectangularCameraCal"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#sym.equirectangular_camera_cal.EquirectangularCameraCal" title="Permalink to this definition">¶</a></dt>
<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
<p>Autogenerated Python implementation of <a class="reference internal" href="../api/symforce.symbolic.html#symforce.symbolic.EquirectangularCameraCal" title="symforce.cam.equirectangular_camera_cal.EquirectangularCameraCal"><code class="xref py py-class docutils literal notranslate"><span class="pre">symforce.cam.equirectangular_camera_cal.EquirectangularCameraCal</span></code></a>.</p>
<p>Equirectangular camera model with parameters [fx, fy, cx, cy].</p>
<p>(fx, fy) representing focal length; (cx, cy) representing principal point.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>focal_length</strong> (<em>T.Union</em><em>[</em><em>T.Sequence</em><em>[</em><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><em>float</em></a><em>]</em><em>, </em><a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v2.2)"><em>numpy.ndarray</em></a><em>]</em>) – </p></li>
<li><p><strong>principal_point</strong> (<em>T.Union</em><em>[</em><em>T.Sequence</em><em>[</em><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><em>float</em></a><em>]</em><em>, </em><a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v2.2)"><em>numpy.ndarray</em></a><em>]</em>) – </p></li>
</ul>
</dd>
</dl>
<dl class="py attribute">
<dt class="sig sig-object py" id="sym.equirectangular_camera_cal.EquirectangularCameraCal.data">
<span class="sig-name descname"><span class="pre">data</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.List" title="(in Python v3.13)"><span class="pre">List</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#sym.equirectangular_camera_cal.EquirectangularCameraCal.data" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="sym.equirectangular_camera_cal.EquirectangularCameraCal.focal_length">
<span class="sig-name descname"><span class="pre">focal_length</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../_modules/sym/equirectangular_camera_cal.html#EquirectangularCameraCal.focal_length"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#sym.equirectangular_camera_cal.EquirectangularCameraCal.focal_length" title="Permalink to this definition">¶</a></dt>
<dd><p>Return the focal length.</p>
<dl class="field-list simple">
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v2.2)"><em>ndarray</em></a></p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="sym.equirectangular_camera_cal.EquirectangularCameraCal.principal_point">
<span class="sig-name descname"><span class="pre">principal_point</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../_modules/sym/equirectangular_camera_cal.html#EquirectangularCameraCal.principal_point"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#sym.equirectangular_camera_cal.EquirectangularCameraCal.principal_point" title="Permalink to this definition">¶</a></dt>
<dd><p>Return the principal point.</p>
<dl class="field-list simple">
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v2.2)"><em>ndarray</em></a></p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="sym.equirectangular_camera_cal.EquirectangularCameraCal.pixel_from_camera_point">
<span class="sig-name descname"><span class="pre">pixel_from_camera_point</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">point</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">epsilon</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../_modules/sym/equirectangular_camera_cal.html#EquirectangularCameraCal.pixel_from_camera_point"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#sym.equirectangular_camera_cal.EquirectangularCameraCal.pixel_from_camera_point" title="Permalink to this definition">¶</a></dt>
<dd><p>Project a 3D point in the camera frame into 2D pixel coordinates.</p>
<dl class="field-list simple">
<dt class="field-odd">Returns<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>pixel</strong> – (x, y) coordinate in pixels if valid</p></li>
<li><p><strong>is_valid</strong> – 1 if the operation is within bounds else 0</p></li>
</ul>
</dd>
<dt class="field-even">Parameters<span class="colon">:</span></dt>
<dd class="field-even"><ul class="simple">
<li><p><strong>point</strong> (<a class="reference internal" href="#sym.equirectangular_camera_cal.EquirectangularCameraCal" title="sym.equirectangular_camera_cal.EquirectangularCameraCal"><em>EquirectangularCameraCal</em></a>) – </p></li>
<li><p><strong>epsilon</strong> (<a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v2.2)"><em>ndarray</em></a>) – </p></li>
</ul>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Tuple" title="(in Python v3.13)"><em>Tuple</em></a>[<a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v2.2)"><em>ndarray</em></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)">float</a>]</p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="sym.equirectangular_camera_cal.EquirectangularCameraCal.pixel_from_camera_point_with_jacobians">
<span class="sig-name descname"><span class="pre">pixel_from_camera_point_with_jacobians</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">point</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">epsilon</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../_modules/sym/equirectangular_camera_cal.html#EquirectangularCameraCal.pixel_from_camera_point_with_jacobians"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#sym.equirectangular_camera_cal.EquirectangularCameraCal.pixel_from_camera_point_with_jacobians" title="Permalink to this definition">¶</a></dt>
<dd><p>Project a 3D point in the camera frame into 2D pixel coordinates.</p>
<dl class="field-list simple">
<dt class="field-odd">Returns<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>pixel</strong> – (x, y) coordinate in pixels if valid</p></li>
<li><p><strong>is_valid</strong> – 1 if the operation is within bounds else 0</p></li>
<li><p><strong>pixel_D_cal</strong> – Derivative of pixel with respect to intrinsic calibration parameters</p></li>
<li><p><strong>pixel_D_point</strong> – Derivative of pixel with respect to point</p></li>
</ul>
</dd>
<dt class="field-even">Parameters<span class="colon">:</span></dt>
<dd class="field-even"><ul class="simple">
<li><p><strong>point</strong> (<a class="reference internal" href="#sym.equirectangular_camera_cal.EquirectangularCameraCal" title="sym.equirectangular_camera_cal.EquirectangularCameraCal"><em>EquirectangularCameraCal</em></a>) – </p></li>
<li><p><strong>epsilon</strong> (<a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v2.2)"><em>ndarray</em></a>) – </p></li>
</ul>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Tuple" title="(in Python v3.13)"><em>Tuple</em></a>[<a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v2.2)"><em>ndarray</em></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)">float</a>, <a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v2.2)"><em>ndarray</em></a>, <a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v2.2)"><em>ndarray</em></a>]</p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="sym.equirectangular_camera_cal.EquirectangularCameraCal.camera_ray_from_pixel">
<span class="sig-name descname"><span class="pre">camera_ray_from_pixel</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">pixel</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">epsilon</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../_modules/sym/equirectangular_camera_cal.html#EquirectangularCameraCal.camera_ray_from_pixel"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#sym.equirectangular_camera_cal.EquirectangularCameraCal.camera_ray_from_pixel" title="Permalink to this definition">¶</a></dt>
<dd><p>Backproject a 2D pixel coordinate into a 3D ray in the camera frame.</p>
<dl class="field-list simple">
<dt class="field-odd">Returns<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>camera_ray</strong> – The ray in the camera frame (NOT normalized)</p></li>
<li><p><strong>is_valid</strong> – 1 if the operation is within bounds else 0</p></li>
</ul>
</dd>
<dt class="field-even">Parameters<span class="colon">:</span></dt>
<dd class="field-even"><ul class="simple">
<li><p><strong>pixel</strong> (<a class="reference internal" href="#sym.equirectangular_camera_cal.EquirectangularCameraCal" title="sym.equirectangular_camera_cal.EquirectangularCameraCal"><em>EquirectangularCameraCal</em></a>) – </p></li>
<li><p><strong>epsilon</strong> (<a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v2.2)"><em>ndarray</em></a>) – </p></li>
</ul>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Tuple" title="(in Python v3.13)"><em>Tuple</em></a>[<a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v2.2)"><em>ndarray</em></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)">float</a>]</p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="sym.equirectangular_camera_cal.EquirectangularCameraCal.camera_ray_from_pixel_with_jacobians">
<span class="sig-name descname"><span class="pre">camera_ray_from_pixel_with_jacobians</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">pixel</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">epsilon</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../_modules/sym/equirectangular_camera_cal.html#EquirectangularCameraCal.camera_ray_from_pixel_with_jacobians"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#sym.equirectangular_camera_cal.EquirectangularCameraCal.camera_ray_from_pixel_with_jacobians" title="Permalink to this definition">¶</a></dt>
<dd><p>Backproject a 2D pixel coordinate into a 3D ray in the camera frame.</p>
<dl class="field-list simple">
<dt class="field-odd">Returns<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>camera_ray</strong> – The ray in the camera frame (NOT normalized)</p></li>
<li><p><strong>is_valid</strong> – 1 if the operation is within bounds else 0</p></li>
<li><p><strong>point_D_cal</strong> – Derivative of point with respect to intrinsic calibration parameters</p></li>
<li><p><strong>point_D_pixel</strong> – Derivation of point with respect to pixel</p></li>
</ul>
</dd>
<dt class="field-even">Parameters<span class="colon">:</span></dt>
<dd class="field-even"><ul class="simple">
<li><p><strong>pixel</strong> (<a class="reference internal" href="#sym.equirectangular_camera_cal.EquirectangularCameraCal" title="sym.equirectangular_camera_cal.EquirectangularCameraCal"><em>EquirectangularCameraCal</em></a>) – </p></li>
<li><p><strong>epsilon</strong> (<a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v2.2)"><em>ndarray</em></a>) – </p></li>
</ul>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Tuple" title="(in Python v3.13)"><em>Tuple</em></a>[<a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v2.2)"><em>ndarray</em></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)">float</a>, <a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v2.2)"><em>ndarray</em></a>, <a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v2.2)"><em>ndarray</em></a>]</p>
</dd>
</dl>
</dd></dl>