NVIDIA DriveWorks API: Rig Configuration types for public
Description: This file defines the types for vehicle rig configuration methods.
Definition in file RigTypes.h.
Go to the source code of this file.
Data Structures | |
| struct | dwFThetaCameraConfig |
| Configuration parameters for a calibrated FTheta camera. More... | |
| struct | dwPinholeCameraConfig |
| struct | dwRadarAzimuthCorrectionModelConfig |
| Configuration parameters for a radar azimuth correction model. More... | |
| struct | dwStereographicCameraConfig |
| Configuration parameters for a calibrated stereographic camera. More... | |
| struct | dwWindshieldModelConfig |
| Configuration parameters for a calibrated windshield model. More... | |
Macros | |
| #define | DW_DEFAULT_EXTRINSIC_PROFILE_INDEX 0U |
| index of the default extrinsic profile More... | |
| #define | DW_FTHETA_POLY_LENGTH 6U |
| Defines the number of distortion coefficients for the ftheta camera model. More... | |
| #define | DW_MAX_EXTRINSIC_PROFILE_COUNT 3U |
| maximal number of extrinsic profiles per sensor. More... | |
| #define | DW_MAX_EXTRINSIC_PROFILE_NAME_SIZE 64U |
| Defines the maximum length of a sensor extrinsic profile name. More... | |
| #define | DW_MAX_RIG_CAMERA_COUNT DW_MAX_RIG_SENSOR_COUNT |
| Defines the maximum number of cameras in a rig. More... | |
| #define | DW_MAX_RIG_SENSOR_COUNT 128U |
| Defines the maximum number of sensors in a rig. More... | |
| #define | DW_MAX_RIG_SENSOR_NAME_SIZE 64U |
| Defines the maximum length of a sensor name in a rig. More... | |
| #define | DW_PINHOLE_DISTORTION_LENGTH 3U |
| Defines the number of distortion coefficients for the pinhole camera model. More... | |
| #define | DW_RADAR_AZIMUTH_CORRECTION_TABLE_MAX_LENGTH 161U |
| Defines the maximum number of supports of the radar azimuth angle correction model. More... | |
| #define | DW_WINDSHIELD_HORIZONTAL_POLY_LENGTH 6U |
| Defines the number of coefficients for the windshield parameters in the horizontal direction. More... | |
| #define | DW_WINDSHIELD_VERTICAL_POLY_LENGTH 15U |
| Defines the number of coefficients for the windshield parameters in the vertical direction. More... | |
Enumerations | |
| enum | dwCameraModel { DW_CAMERA_MODEL_PINHOLE = 1 , DW_CAMERA_MODEL_FTHETA = 2 } |
| Specifies the supported optical camera models. More... | |
| enum | dwFThetaCameraPolynomialType { DW_FTHETA_CAMERA_POLYNOMIAL_TYPE_PIXELDISTANCE_TO_ANGLE = 0 , DW_FTHETA_CAMERA_POLYNOMIAL_TYPE_ANGLE_TO_PIXELDISTANCE } |
| Type of polynomial stored in FTheta. More... | |
| enum | dwWindshieldPolynomialType { DW_WINDSHIELD_POLYNOMIAL_TYPE_FORWARD = 0 , DW_WINDSHIELD_POLYNOMIAL_TYPE_BACKWARD = 1 , DW_WINDSHIELD_POLYNOMIAL_TYPE_COUNT = 2 , DW_WINDSHIELD_POLYNOMIAL_TYPE_FORCE_32 = 0x7fffffff } |
| Type of polynomial stored in Windshield Model. More... | |
| struct dwFThetaCameraConfig |
| Data Fields | ||
|---|---|---|
| float32_t | c |
Linear pixel transformation matrix coefficient c (top left element) If all c, d, and e are set to 0.0f, then the top lef element of the matrix will be set to 1.0f instead, creating identity as the linear transformation. |
| float32_t | d | Linear pixel transformation coefficient d (top right element). |
| float32_t | e | Linear pixel transformation coefficient e (bottom left element). |
| bool | hasTangentials | Indicates if the camera has a tangential contribution. |
| uint32_t | height | Height of the image (in pixels) |
| float32_t | polynomial[DW_FTHETA_POLY_LENGTH] |
Polynomial describing either the mapping of angles to pixel-distances or the mapping of pixel-distances to angles, in dependence of the field polynomialType. The polynomial function is defined as |
| dwFThetaCameraPolynomialType | polynomialType | Defines whether the polynomial parameter either map angles to pixel-distances (called forward direction) or map pixel-distances to angles (called backward direction). |
| float32_t | t0 |
Tangential contribution describing an non radial symmetric distortion effect coming from a rotational lens displacement. [u`] = [u] + (2t0 x/z *y/z + t1/(z**2)(y**2 + 3*x**3)) [v`] = [v] + (2t1 x/z *y/z + t0/(z**2)(x**2 + 3*y**3)) Oth tangential contribution |
| float32_t | t1 | 1st tangential contribution |
| float32_t | u0 |
Principal point coordinates: indicating the horizontal / vertical image coordinates of the principal point relative to the origin of the image read-out area. The top-left corner of the read-out area is defined to have image coordinates [-0.5, -0.5], meaning that the center of the first pixel (with interger-indices [0, 0] and unit extend) corresponds to the point with image coordinates [0.0, 0.0]. U coordinate for the principal point (in pixels) |
| float32_t | v0 | V coordinate for the principal point (in pixels) |
| uint32_t | width | Width of the image (in pixels) |
| struct dwPinholeCameraConfig |
| Data Fields | ||
|---|---|---|
| float32_t | distortion[DW_PINHOLE_DISTORTION_LENGTH] |
Polynomial coefficients [k_1, k_2, k_3] that allow to map undistored, normalized image coordinates (xn, yn) to distorted normalized image coordinates (xd, yd). |
| float32_t | focalX | Focal length in the X axis (in pixels) |
| float32_t | focalY | Focal length in the Y axis (in pixels) |
| uint32_t | height | Height of the image (in pixels) |
| float32_t | u0 | U coordinate for the principal point (in pixels) |
| float32_t | v0 | V coordinate for the principal point (in pixels) |
| uint32_t | width | Width of the image (in pixels) |
| struct dwRadarAzimuthCorrectionModelConfig |
| Data Fields | ||
|---|---|---|
| float32_t | correctionsRad[DW_RADAR_AZIMUTH_CORRECTION_TABLE_MAX_LENGTH] | Values of correction function at support i [rad]. |
| float32_t | deltaPhiRad | Equidistant spacing between supports [rad]. |
| uint32_t | numCorrections | Number of correction values/supports. |
| float32_t | phiMaxRad | Maximum azimuth angle of FOV [rad]. |
| float32_t | phiMinRad | Minimum azimuth angle of FOV [rad]. |
| float32_t | stddevRad[DW_RADAR_AZIMUTH_CORRECTION_TABLE_MAX_LENGTH] | Standard deviation of correction function at support i [rad]. |
| struct dwStereographicCameraConfig |
| struct dwWindshieldModelConfig |
| Data Fields | ||
|---|---|---|
| float32_t | horizontalPolynomial[DW_WINDSHIELD_HORIZONTAL_POLY_LENGTH] |
Windshield polynomial describing the mapping of horizontal angle(phi) from ray-from-object to ray-into-camera The polynomial is 2 dimension with highest degree as DEGREE. The number of distortion coefficients equals to (DEGREE + 1) * (DEGREE + 2) / 2 For a ray(x, y, z), horizontal angle phi is defined as: phi = asin(x/sqrt(x^2+y^2+z^2)), vertical angle theta is defined as: theta = asin(y/sqrt(x^2+y^2+z^2)) The windshield horizontal polynomial function is defined as phi' = windshield_horizontal_polynomial[0] + ... + windshield_horizontal_polynomial[j * (2 * DEGREE + 3 - j) / 2 + i]* phi^(i)* theta(j) + ...
|
| dwWindshieldPolynomialType | polynomialType | Defines whether the polynomial parameter either map a ray from non-camera side to camera side (called forward direction) or map a ray from camera side to non-camera side (called backward direction). |
| float32_t | verticalPolynomial[DW_WINDSHIELD_VERTICAL_POLY_LENGTH] |
Windshield polynomial describing the mapping of vertical angle(theta) from ray-from-object to ray-into-camera The polynomial is 2 dimension with highest degree as DEGREE. The number of distortion coefficients equals to (DEGREE + 1) * (DEGREE + 2) / 2 For a ray(x, y, z), horizontal angle phi is defined as: phi = asin(x/sqrt(x^2+y^2+z^2)), vertical angle theta is defined as: theta = asin(y/sqrt(x^2+y^2+z^2)) The windshield vertical polynomial function is defined as theta' = windshield_vertical_polynomial[0] + ... + windshield_vertical_polynomial[j * (2 * DEGREE + 3 - j) / 2 + i]* phi^(i)* theta(j) + ...
|
| #define DW_DEFAULT_EXTRINSIC_PROFILE_INDEX 0U |
index of the default extrinsic profile
Definition at line 66 of file RigTypes.h.
| #define DW_FTHETA_POLY_LENGTH 6U |
Defines the number of distortion coefficients for the ftheta camera model.
Definition at line 138 of file RigTypes.h.
| #define DW_MAX_EXTRINSIC_PROFILE_COUNT 3U |
maximal number of extrinsic profiles per sensor.
Definition at line 63 of file RigTypes.h.
| #define DW_MAX_EXTRINSIC_PROFILE_NAME_SIZE 64U |
Defines the maximum length of a sensor extrinsic profile name.
Definition at line 60 of file RigTypes.h.
| #define DW_MAX_RIG_CAMERA_COUNT DW_MAX_RIG_SENSOR_COUNT |
Defines the maximum number of cameras in a rig.
Definition at line 54 of file RigTypes.h.
| #define DW_MAX_RIG_SENSOR_COUNT 128U |
Defines the maximum number of sensors in a rig.
Definition at line 51 of file RigTypes.h.
| #define DW_MAX_RIG_SENSOR_NAME_SIZE 64U |
Defines the maximum length of a sensor name in a rig.
Definition at line 57 of file RigTypes.h.
| #define DW_PINHOLE_DISTORTION_LENGTH 3U |
Defines the number of distortion coefficients for the pinhole camera model.
Definition at line 81 of file RigTypes.h.
| #define DW_RADAR_AZIMUTH_CORRECTION_TABLE_MAX_LENGTH 161U |
Defines the maximum number of supports of the radar azimuth angle correction model.
Definition at line 530 of file RigTypes.h.
| #define DW_WINDSHIELD_HORIZONTAL_POLY_LENGTH 6U |
Defines the number of coefficients for the windshield parameters in the horizontal direction.
Definition at line 426 of file RigTypes.h.
| #define DW_WINDSHIELD_VERTICAL_POLY_LENGTH 15U |
Defines the number of coefficients for the windshield parameters in the vertical direction.
Definition at line 430 of file RigTypes.h.
| enum dwCameraModel |
Specifies the supported optical camera models.
The models define the mapping between optical rays and pixel coordinates, e.g., the intrinsic parameters of the camera.
| Enumerator | |
|---|---|
| DW_CAMERA_MODEL_PINHOLE | |
| DW_CAMERA_MODEL_FTHETA | |
Definition at line 72 of file RigTypes.h.
Type of polynomial stored in FTheta.
The FTheta model can either be defined by the forward polynomial that maps a ray angle to a pixel distance from the principal point, or its inverse, the backward polynomial that maps a distance from the principal point to a ray angle.
This struct defines which of those two options a polynomial represents.
Definition at line 150 of file RigTypes.h.
Type of polynomial stored in Windshield Model.
The Windshield model can either be defined by the forward polynomial that maps a ray from non-camera side to a ray on the camera side, or its inverse, the backward polynomial that maps a ray from camera side to a ray on the non-camera side.
This struct defines which of those two options a polynomial represents.
Definition at line 441 of file RigTypes.h.