Function lib3d::computePolarCoordinates(lib3d::Intrinsics, double, double, double, double, double, double, double, double&, double&, Intrinsics&)

Function Documentation

inline void lib3d::computePolarCoordinates(lib3d::Intrinsics intrinsics, double x, double y, double pan, double tilt, double zoom, double minF, double maxF, double &outAzimuth, double &outElevation, Intrinsics &outCompensatedIntrinsics)

Compute polar coordinates for a ray from a given pixel in the camera home pose reference frame.

Parameters:

  • intrinsics – [in] camera intrinsics

  • x – [in] target pixel x-coordinate

  • y – [in] target pixel y-coordinate

  • pan – [in] camera pan value (yaw) in radians

  • tilt – [in] camera tilt value (pitch) in radians

  • zoom – [in] camera zoom value in [0,1]

  • minF – [in]

  • maxF – [in]

  • outAzimuth – [out] azimuth of the ray in radians (0 is camera z-axis)

  • outElevation – [out] elevation of the ray in radians (0 is camera z-axis)

  • outCompensatedIntrinsics – [out] zoom-adapted intrinsics