Main Page | Modules | Class List | File List | Class Members | File Members

Gan_Camera Struct Reference
[Camera geometric/photometric transformations]

Structure containing camera parameters in double precision. More...

#include <gandalf/vision/camera.h>

List of all members.

Public Attributes

Gan_CameraType type
 Type of camera.
double fx
 parameters of linear camera focal distance in x/y pixels
double fy
 parameters of linear camera focal distance in x/y pixels
double fy_over_fx
 parameters of linear camera focal distance in x/y pixels
double x0
 image centre x/y coordinates
double y0
 image centre x/y coordinates
double zh
 third homogeneous image coordinate
union {
   struct {
      double   skew
 skew parameters
      double   kyx
 skew parameters
      Gan_Matrix23   Kinv
 inverse camera matrix
   }   affine
   struct {
      double   K1
 Distortion coefficients.
      double   thres_R2
 Thresholds on $ R^2 $ and $ d\:R $.
      double   thres_dR
 Thresholds on $ R^2 $ and $ d\:R $.
      double   outer_a
 Outer linear model parameters.
      double   outer_b
 Outer linear model parameters.
   }   radial1
   struct {
      double   K1
 Distortion coefficients.
      double   K2
 Distortion coefficients.
      double   thres_R2
 Thresholds on $ R^2 $ and $ d\:R $.
      double   thres_dR
 Thresholds on $ R^2 $ and $ d\:R $.
      double   outer_a
 Outer linear model parameters.
      double   outer_b
 Outer linear model parameters.
   }   radial2
   struct {
      double   K1
 Distortion coefficients.
      double   K2
 Distortion coefficients.
      double   K3
 Distortion coefficients.
      double   thres_R2
 Thresholds on $ R^2 $ and $ d\:R $.
      double   thres_dR
 Thresholds on $ R^2 $ and $ d\:R $.
      double   outer_a
 Outer linear model parameters.
      double   outer_b
 Outer linear model parameters.
   }   radial3
   struct {
      double   cxx
      double   cxy
      double   cyx
      double   cyy
   }   xydist4
   struct {
      double   xla
      double   xlp
      double   xha
      double   xhp
      double   yla
      double   ylp
      double   yha
      double   yhp
      double   axx
      double   axy
      double   ayx
      double   ayy
   }   fcwarp
   struct {
      double   skew
 skew and lower triangle components store in a scale-independent manner
      double   kyx
 skew and lower triangle components store in a scale-independent manner
      double   kzx
 skew and lower triangle components store in a scale-independent manner
      double   kzy
 skew and lower triangle components store in a scale-independent manner
      Gan_Matrix33   K
 non-triangular camera matrix and its inverse
      Gan_Matrix33   Kinv
 non-triangular camera matrix and its inverse
      Gan_CubicBSplineWeightBlock *   weight
 Cubic B-spline parameters.
      Gan_CubicBSplineSupport *   support
 Support for back-projection.
   }   cbspline
} nonlinear
 Supplementary parameters for non-linear camera models.
struct {
   Gan_Bool(*   project )(const struct Gan_Camera *camera, Gan_Vector3 *X, Gan_Vector3 *p, Gan_PositionState *Xpprev, Gan_Matrix22 *HX, struct Gan_Camera *HC, int *error_code)
 point projection function
   Gan_Bool(*   backproject )(const struct Gan_Camera *camera, Gan_Vector3 *p, Gan_Vector3 *X, Gan_PositionState *pXprev, int *error_code)
 point back-projection function
   Gan_Bool(*   add_distortion )(const struct Gan_Camera *camera, Gan_Vector3 *pu, Gan_Vector3 *p, Gan_PositionState *pupprev, int *error_code)
 function to add distortion to a point
   Gan_Bool(*   remove_distortion )(const struct Gan_Camera *camera, Gan_Vector3 *p, Gan_Vector3 *pu, Gan_PositionState *ppuprev, int *error_code)
 function to remove distortion from a point
} point
 point functions
struct {
   Gan_Bool(*   project )(const struct Gan_Camera *camera, Gan_Vector3 *L, Gan_Vector3 *l)
 line projection function
   Gan_Bool(*   backproject )(const struct Gan_Camera *camera, Gan_Vector3 *l, Gan_Vector3 *L)
 line back-projection function
} line
 line functions

Detailed Description

Structure containing camera parameters in double precision.

Member Data Documentation

union { ... } Gan_Camera::nonlinear
 

Supplementary parameters for non-linear camera models.

The thresholds are the square $ R^2 $ of the undistorted radial camera coordinate $ R $ where the first reversal of distortion occurs (thres_R2), and the similar threshold on the distorted radial distance $ d\:R $, involving both the distortion coefficient $ d $ and $ F $ (thres_dR), at the same reversal point. Both thresholds are set to DBL_MAX if there is no reversal.

The documentation for this struct was generated from the following file:
Generated on Fri Mar 17 12:44:53 2006 by  doxygen 1.3.9.1