Vision
======

Vision provides dependency-light camera geometry helpers for RGB-D observations
and Cartesian/pixel alignment-error helpers for caller-owned correction loops.

.. tab-set::
   :sync-group: sdk-language

   .. tab-item:: Python
      :sync: python

      .. automodule:: olo.vision
         :no-members:

      **Types**

      .. autoclass:: olo.vision.Pixel
         :members:

      .. autoclass:: olo.vision.BoundingBox
         :members:

      .. autoclass:: olo.vision.CameraIntrinsics
         :members:

      .. autoclass:: olo.vision.PointObservation
         :members:

      .. autoclass:: olo.vision.AlignmentError
         :members:

      .. autoclass:: olo.vision.PositionError
         :members:

      **Camera geometry helpers**

      .. autofunction:: olo.vision.camera_info_to_intrinsics

      .. autofunction:: olo.vision.sample_depth

      .. autofunction:: olo.vision.sample_depth_region

      .. autofunction:: olo.vision.sample_depth_point

      .. autofunction:: olo.vision.deproject_pixel

      .. autofunction:: olo.vision.deproject_point

      .. autofunction:: olo.vision.deproject

      .. autofunction:: olo.vision.deproject_region

      .. autofunction:: olo.vision.deproject_to_frame

      .. autofunction:: olo.vision.project_point

      .. autofunction:: olo.vision.project

      **Control helpers**

      .. autofunction:: olo.vision.pixel_alignment_error

      .. autofunction:: olo.vision.position_error

   .. tab-item:: TypeScript
      :sync: typescript

      Import from ``olo/vision``:

      **Types**

      - :doc:`Pixel </typescript/api/generated/olo/vision/interfaces/Pixel>`
        Zero-based image pixel coordinate.
      - :doc:`BoundingBox </typescript/api/generated/olo/vision/classes/BoundingBox>`
        Half-open image bounding box with XYXY pixel coordinates.
      - :doc:`CameraIntrinsics </typescript/api/generated/olo/vision/interfaces/CameraIntrinsics>`
        Pinhole camera calibration parsed from ``sensor_msgs/CameraInfo``.
      - :doc:`PointObservation </typescript/api/generated/olo/vision/interfaces/PointObservation>`
        Stamped 3D point observation in an image-derived frame.
      - :doc:`AlignmentError </typescript/api/generated/olo/vision/interfaces/AlignmentError>`
        Image-space alignment error.
      - :doc:`PositionError </typescript/api/generated/olo/vision/interfaces/PositionError>`
        Cartesian position error.

      **Options**

      - :doc:`SampleDepthOptions </typescript/api/generated/olo/vision/interfaces/SampleDepthOptions>`
      - :doc:`SampleDepthRegionOptions </typescript/api/generated/olo/vision/interfaces/SampleDepthRegionOptions>`

      **Camera geometry helpers**

      - :doc:`cameraInfoToIntrinsics </typescript/api/generated/olo/vision/functions/cameraInfoToIntrinsics>`
      - :doc:`sampleDepth </typescript/api/generated/olo/vision/functions/sampleDepth>`
      - :doc:`sampleDepthRegion </typescript/api/generated/olo/vision/functions/sampleDepthRegion>`
      - :doc:`sampleDepthPoint </typescript/api/generated/olo/vision/functions/sampleDepthPoint>`
      - :doc:`deprojectPixel </typescript/api/generated/olo/vision/functions/deprojectPixel>`
      - :doc:`deprojectPoint </typescript/api/generated/olo/vision/functions/deprojectPoint>`
      - :doc:`deproject </typescript/api/generated/olo/vision/functions/deproject>`
      - :doc:`deprojectRegion </typescript/api/generated/olo/vision/functions/deprojectRegion>`
      - :doc:`deprojectToFrame </typescript/api/generated/olo/vision/functions/deprojectToFrame>`
      - :doc:`projectPoint </typescript/api/generated/olo/vision/functions/projectPoint>`
      - :doc:`project </typescript/api/generated/olo/vision/functions/project>`

      **Control helpers**

      - :doc:`pixelAlignmentError </typescript/api/generated/olo/vision/functions/pixelAlignmentError>`
      - :doc:`positionError </typescript/api/generated/olo/vision/functions/positionError>`