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Take a look HERE

PositionCalculatorImpl::addMeasurementImpl in src/positionCalc.cpp is basically a calculation of Az/El from pixel coordinates.

The parameters you need are:

1. Pixel location
2. Camera->World rotation (Rodrigues or Rotation Matrix)
3. Camera matrix
4. (Optional) Distortion matrix

In short, the algorithm is:

1. Turn pixels into camera-relative LOS
2. Rotate LOS to world coordinates
3. Convert LOS to Az/El