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Gan_Camera_f Struct Reference
[Camera geometric/photometric transformations]

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

#include <gandalf/vision/cameraf.h>

List of all members.

Public Attributes

Gan_CameraType type
 Type of camera.
float fx
 parameters of linear camera focal distance in x/y pixels
float fy
 parameters of linear camera focal distance in x/y pixels
float fy_over_fx
 parameters of linear camera focal distance in x/y pixels
float x0
 image centre x/y coordinates
float y0
 image centre x/y coordinates
float zh
 third homogeneous image coordinate
union {
   struct {
      float   skew
 skew parameters
      float   kyx
 skew parameters
      Gan_Matrix23_f   Kinv
 inverse camera matrix
   }   affine
   struct {
      float   K1
 Distortion coefficients.
      float   thres_R2
 Thresholds on $ R^2 $ and $ d\:R $.
      float   thres_dR
 Thresholds on $ R^2 $ and $ d\:R $.
      float   outer_a
 Outer linear model parameters.
      float   outer_b
 Outer linear model parameters.
   }   radial1
   struct {
      float   K1
 Distortion coefficients.
      float   K2
 Distortion coefficients.
      float   thres_R2
 Thresholds on $ R^2 $ and $ d\:R $.
      float   thres_dR
 Thresholds on $ R^2 $ and $ d\:R $.
      float   outer_a
 Outer linear model parameters.
      float   outer_b
 Outer linear model parameters.
   }   radial2
   struct {
      float   K1
 Distortion coefficients.
      float   K2
 Distortion coefficients.
      float   K3
 Distortion coefficients.
      float   thres_R2
 Thresholds on $ R^2 $ and $ d\:R $.
      float   thres_dR
 Thresholds on $ R^2 $ and $ d\:R $.
      float   outer_a
 Outer linear model parameters.
      float   outer_b
 Outer linear model parameters.
   }   radial3
   struct {
      float   cxx
      float   cxy
      float   cyx
      float   cyy
   }   xydist4
   struct {
      float   xla
      float   xlp
      float   xha
      float   xhp
      float   yla
      float   ylp
      float   yha
      float   yhp
      float   axx
      float   axy
      float   ayx
      float   ayy
   }   fcwarp
   struct {
      float   skew
 skew and lower triangle components store in a scale-independent manner
      float   kyx
 skew and lower triangle components store in a scale-independent manner
      float   kzx
 skew and lower triangle components store in a scale-independent manner
      float   kzy
 skew and lower triangle components store in a scale-independent manner
      Gan_Matrix33_f   K
 non-triangular camera matrix and its inverse
      Gan_Matrix33_f   Kinv
 non-triangular camera matrix and its inverse
      Gan_CubicBSplineWeightBlockF *   weight
 Cubic B-spline parameters.
      Gan_CubicBSplineSupportF *   support
 Support for back-projection.
   }   cbspline
} nonlinear
 Supplementary parameters for non-linear camera models.
struct {
   Gan_Bool(*   project )(const struct Gan_Camera_f *camera, Gan_Vector3_f *X, Gan_Vector3_f *p, Gan_PositionState_f *Xpprev, Gan_Matrix22_f *HX, struct Gan_Camera_f *HC, int *error_code)
 point projection function
   Gan_Bool(*   backproject )(const struct Gan_Camera_f *camera, Gan_Vector3_f *p, Gan_Vector3_f *X, Gan_PositionState_f *pXprev, int *error_code)
 point back-projection function
   Gan_Bool(*   add_distortion )(const struct Gan_Camera_f *camera, Gan_Vector3_f *pu, Gan_Vector3_f *p, Gan_PositionState_f *pupprev, int *error_code)
 function to add distortion to a point
   Gan_Bool(*   remove_distortion )(const struct Gan_Camera_f *camera, Gan_Vector3_f *p, Gan_Vector3_f *pu, Gan_PositionState_f *ppuprev, int *error_code)
 function to remove distortion from a point
} pointf
 point functions
struct {
   Gan_Bool(*   project )(const struct Gan_Camera_f *camera, Gan_Vector3_f *L, Gan_Vector3_f *l)
 line projection function
   Gan_Bool(*   backproject )(const struct Gan_Camera_f *camera, Gan_Vector3_f *l, Gan_Vector3_f *L)
 line back-projection function
} linef
 line functions

Detailed Description

Structure containing camera parameters in single precision.

Member Data Documentation

union { ... } Gan_Camera_f::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 $ R $ (thres_dR), at the same reversal point. Both thresholds are set to FLT_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