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 | dwPinholeCameraConfig |
| struct | dwFThetaCameraConfig |
| Configuration parameters for a calibrated FTheta camera. More... | |
| struct | dwStereographicCameraConfig |
| Configuration parameters for a calibrated stereographic camera. More... | |
| struct | dwWindshieldModelConfig |
| Configuration parameters for a calibrated windshield model. More... | |
| struct | dwRadarAzimuthCorrectionModelConfig |
| Configuration parameters for a radar azimuth correction model. More... | |
Macros | |
| #define | DW_MAX_RIG_SENSOR_COUNT 48U |
| Defines the maximum number of sensors in a rig. 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_NAME_SIZE 64U |
| Defines the maximum length of a sensor name in a rig. More... | |
| #define | DW_MAX_EXTRINSIC_PROFILE_NAME_SIZE 64U |
| Defines the maximum length of a sensor extrinsic profile name. More... | |
| #define | DW_MAX_EXTRINSIC_PROFILE_COUNT 3U |
| maximal number of extrinsic profiles per sensor. More... | |
| #define | DW_DEFAULT_EXTRINSIC_PROFILE_INDEX 0U |
| index of the default extrinsic profile More... | |
| #define | DW_PINHOLE_DISTORTION_LENGTH 3U |
| Defines the number of distortion coefficients for the pinhole camera model. More... | |
| #define | DW_FTHETA_POLY_LENGTH 6U |
| Defines the number of distortion coefficients for the ftheta camera 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... | |
| #define | DW_RADAR_AZIMUTH_CORRECTION_TABLE_MAX_LENGTH 161U |
| Defines the maximum number of supports of the radar azimuth angle correction model. More... | |
Typedefs | |
| typedef enum dwCameraModel | dwCameraModel |
| Specifies the supported optical camera models. More... | |
| typedef enum dwPinholeCameraPolynomialType | dwPinholeCameraPolynomialType |
| Type of polynomial stored in PinholeCamera. More... | |
| typedef struct dwPinholeCameraConfig | dwPinholeCameraConfig |
| typedef enum dwFThetaCameraPolynomialType | dwFThetaCameraPolynomialType |
| Type of polynomial stored in FTheta. More... | |
| typedef struct dwFThetaCameraConfig | dwFThetaCameraConfig |
| Configuration parameters for a calibrated FTheta camera. More... | |
| typedef struct dwStereographicCameraConfig | dwStereographicCameraConfig |
| Configuration parameters for a calibrated stereographic camera. More... | |
| typedef enum dwWindshieldPolynomialType | dwWindshieldPolynomialType |
| Type of polynomial stored in Windshield Model. More... | |
| typedef struct dwWindshieldModelConfig | dwWindshieldModelConfig |
| Configuration parameters for a calibrated windshield model. More... | |
| typedef struct dwRadarAzimuthCorrectionModelConfig | dwRadarAzimuthCorrectionModelConfig |
| Configuration parameters for a radar azimuth correction model. More... | |
Enumerations | |
| enum | dwCameraModel { DW_CAMERA_MODEL_PINHOLE = 1, DW_CAMERA_MODEL_FTHETA = 2 } |
| Specifies the supported optical camera models. More... | |
| enum | dwPinholeCameraPolynomialType { DW_PINHOLE_CAMERA_POLYNOMIAL_TYPE_FORWARD = 0, DW_PINHOLE_CAMERA_POLYNOMIAL_TYPE_BACKWARD = 1 } |
| Type of polynomial stored in PinholeCamera. 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... | |
| #define DW_DEFAULT_EXTRINSIC_PROFILE_INDEX 0U |
index of the default extrinsic profile
Definition at line 48 of file RigTypes.h.
| #define DW_FTHETA_POLY_LENGTH 6U |
Defines the number of distortion coefficients for the ftheta camera model.
Definition at line 164 of file RigTypes.h.
| #define DW_MAX_EXTRINSIC_PROFILE_COUNT 3U |
maximal number of extrinsic profiles per sensor.
Definition at line 45 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 42 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 36 of file RigTypes.h.
| #define DW_MAX_RIG_SENSOR_COUNT 48U |
Defines the maximum number of sensors in a rig.
Definition at line 33 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 39 of file RigTypes.h.
| #define DW_PINHOLE_DISTORTION_LENGTH 3U |
Defines the number of distortion coefficients for the pinhole camera model.
Definition at line 63 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 556 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 452 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 456 of file RigTypes.h.
| typedef enum dwCameraModel 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.
| typedef struct dwFThetaCameraConfig dwFThetaCameraConfig |
Configuration parameters for a calibrated FTheta camera.
The FTheta camera model is able to handle both pinhole and fisheye cameras by mapping sight-ray angles to pixel-distances using a polynomial. It incorporates a general linear transformation of pixel offsets to pixel coordinates covering a variety of geometric transformations.
| typedef enum dwFThetaCameraPolynomialType dwFThetaCameraPolynomialType |
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.
| typedef struct dwPinholeCameraConfig dwPinholeCameraConfig |
Type of polynomial stored in PinholeCamera.
The PinholeCamera model distortion can either be defined in forward direction following the photons from ray to pixel or in backward direction from pixel to ray.
This struct defines which of those two options a polynomial represents.
Configuration parameters for a radar azimuth correction model.
The model consists of a correction function (and its standard deviation) across the field of view (FOV) of the sensor, where phi is the actual angle of a detection and phi_hat is the measured angle of a detection. Then,
phi_hat = phi + correction(phi)
The function correction(phi) is approximated as piecewise linear function with equidistant supports with range [phiMinRad,phiMaxRad] and spacing deltaPhiRad and function values correctionsRad.
| typedef struct dwStereographicCameraConfig dwStereographicCameraConfig |
Configuration parameters for a calibrated stereographic camera.
The stereographic camera describes a projection of a sphere onto a plane located at a certain distance in viewing (=z) direction.
| typedef struct dwWindshieldModelConfig dwWindshieldModelConfig |
Configuration parameters for a calibrated windshield model.
The windshield model is able to handle the ray distortion effect by mapping sight-ray to camera-ray using a set of polynomials.
| typedef enum dwWindshieldPolynomialType dwWindshieldPolynomialType |
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.
| 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 54 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 176 of file RigTypes.h.
Type of polynomial stored in PinholeCamera.
The PinholeCamera model distortion can either be defined in forward direction following the photons from ray to pixel or in backward direction from pixel to ray.
This struct defines which of those two options a polynomial represents.
Definition at line 74 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 467 of file RigTypes.h.