38#ifndef DW_RIG_RIG_TYPES_H_
39#define DW_RIG_RIG_TYPES_H_
51#define DW_MAX_RIG_SENSOR_COUNT 128U
54#define DW_MAX_RIG_CAMERA_COUNT DW_MAX_RIG_SENSOR_COUNT
57#define DW_MAX_RIG_SENSOR_NAME_SIZE 64U
60#define DW_MAX_EXTRINSIC_PROFILE_NAME_SIZE 64U
63#define DW_MAX_EXTRINSIC_PROFILE_COUNT 3U
66#define DW_DEFAULT_EXTRINSIC_PROFILE_INDEX 0U
81#define DW_PINHOLE_DISTORTION_LENGTH 3U
138#define DW_FTHETA_POLY_LENGTH 6U
426#define DW_WINDSHIELD_HORIZONTAL_POLY_LENGTH 6U
430#define DW_WINDSHIELD_VERTICAL_POLY_LENGTH 15U
530#define DW_RADAR_AZIMUTH_CORRECTION_TABLE_MAX_LENGTH 161U
uint32_t width
Width of the image (in pixels)
float32_t u0
U coordinate for the principal point (in pixels)
float32_t focalY
Focal length in the Y axis (in pixels)
float32_t v0
V coordinate for the principal point (in pixels)
dwWindshieldPolynomialType
Type of polynomial stored in Windshield Model.
@ DW_WINDSHIELD_POLYNOMIAL_TYPE_BACKWARD
Backward polynomial type, mapping ray distortion by windshield from the camera side to non-camera sid...
@ DW_WINDSHIELD_POLYNOMIAL_TYPE_FORWARD
Forward polynomial type, mapping ray distortion by windshield from the non camera side to camera side...
@ DW_WINDSHIELD_POLYNOMIAL_TYPE_FORCE_32
Force enum to be 32 bits.
@ DW_WINDSHIELD_POLYNOMIAL_TYPE_COUNT
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].
float32_t e
Linear pixel transformation coefficient e (bottom left element).
uint32_t width
Width of the image (in pixels)
float32_t distortion[DW_PINHOLE_DISTORTION_LENGTH]
Polynomial coefficients [k_1, k_2, k_3] that allow to map undistored, normalized image coordinates (x...
float32_t focalX
Focal length in the X axis (in pixels)
float32_t u0
U coordinate for the principal point (in pixels)
float32_t correctionsRad[DW_RADAR_AZIMUTH_CORRECTION_TABLE_MAX_LENGTH]
Values of correction function at support i [rad].
float32_t phiMaxRad
Maximum azimuth angle of FOV [rad].
float32_t v0
V coordinate for the principal point (in pixels)
dwCameraModel
Specifies the supported optical camera models.
@ DW_CAMERA_MODEL_PINHOLE
float32_t c
Linear pixel transformation matrix coefficient c (top left element) If all c, d, and e are set to 0....
float32_t u0
Principal point coordinates: indicating the horizontal / vertical image coordinates of the principal ...
#define DW_FTHETA_POLY_LENGTH
Defines the number of distortion coefficients for the ftheta camera model.
uint32_t height
Height of the image (in pixels)
uint32_t width
Width of the image (in pixels)
uint32_t height
Height of the image (in pixels)
float32_t t1
1st tangential contribution
float32_t horizontalPolynomial[DW_WINDSHIELD_HORIZONTAL_POLY_LENGTH]
Windshield polynomial describing the mapping of horizontal angle(phi) from ray-from-object to ray-int...
bool hasTangentials
Indicates if the camera has a tangential contribution.
float32_t v0
V coordinate for the principal point (in pixels)
#define DW_PINHOLE_DISTORTION_LENGTH
Defines the number of distortion coefficients for the pinhole camera model.
#define DW_WINDSHIELD_VERTICAL_POLY_LENGTH
Defines the number of coefficients for the windshield parameters in the vertical direction.
float32_t verticalPolynomial[DW_WINDSHIELD_VERTICAL_POLY_LENGTH]
Windshield polynomial describing the mapping of vertical angle(theta) from ray-from-object to ray-int...
float32_t d
Linear pixel transformation coefficient d (top right element).
dwFThetaCameraPolynomialType
Type of polynomial stored in FTheta.
@ DW_FTHETA_CAMERA_POLYNOMIAL_TYPE_PIXELDISTANCE_TO_ANGLE
Backward polynomial type, mapping pixel distances (offset from principal point) to angles (angle betw...
@ DW_FTHETA_CAMERA_POLYNOMIAL_TYPE_ANGLE_TO_PIXELDISTANCE
Forward polynomial type, mapping angles (angle between ray and forward direction) to pixel distances ...
float32_t deltaPhiRad
Equidistant spacing between supports [rad].
#define DW_WINDSHIELD_HORIZONTAL_POLY_LENGTH
Defines the number of coefficients for the windshield parameters in the horizontal direction.
float32_t t0
Tangential contribution describing an non radial symmetric distortion effect coming from a rotational...
float32_t polynomial[DW_FTHETA_POLY_LENGTH]
Polynomial describing either the mapping of angles to pixel-distances or the mapping of pixel-distanc...
dwFThetaCameraPolynomialType polynomialType
Defines whether the polynomial parameter either map angles to pixel-distances (called forward directi...
float32_t hFOV
Horizontal FOV (in radians)
uint32_t numCorrections
Number of correction values/supports.
#define DW_RADAR_AZIMUTH_CORRECTION_TABLE_MAX_LENGTH
Defines the maximum number of supports of the radar azimuth angle correction model.
dwWindshieldPolynomialType polynomialType
Defines whether the polynomial parameter either map a ray from non-camera side to camera side (called...
uint32_t height
Height of the image (in pixels)
Configuration parameters for a calibrated FTheta camera.
Configuration parameters for a radar azimuth correction model.
Configuration parameters for a calibrated stereographic camera.
Configuration parameters for a calibrated windshield model.
NVIDIA DriveWorks API: Core Types
float float32_t
Specifies POD types.