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.
Definition at line 307 of file RigTypes.h.
Data Fields | |
| uint32_t | width |
| Width of the image (in pixels) More... | |
| uint32_t | height |
| Height of the image (in pixels) More... | |
| 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. More... | |
| float32_t | v0 |
| V coordinate for the principal point (in pixels) More... | |
| 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. More... | |
| float32_t | d |
| Linear pixel transformation coefficient d (top right element). More... | |
| float32_t | e |
| Linear pixel transformation coefficient e (bottom left element). More... | |
| 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. More... | |
| 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). More... | |
| bool | hasTangentials |
| Indicates if the camera has a tangential contribution. More... | |
| float32_t | t0 |
| Tangential contribution describing an non radial symmetric distortion effect coming from a rotational lens displacement. More... | |
| float32_t | t1 |
| 1st tangential contribution More... | |
| float32_t dwFThetaCameraConfig::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.
Definition at line 336 of file RigTypes.h.
| float32_t dwFThetaCameraConfig::d |
Linear pixel transformation coefficient d (top right element).
Definition at line 339 of file RigTypes.h.
| float32_t dwFThetaCameraConfig::e |
Linear pixel transformation coefficient e (bottom left element).
Definition at line 342 of file RigTypes.h.
| bool dwFThetaCameraConfig::hasTangentials |
Indicates if the camera has a tangential contribution.
Definition at line 361 of file RigTypes.h.
| uint32_t dwFThetaCameraConfig::height |
Height of the image (in pixels)
Definition at line 313 of file RigTypes.h.
| float32_t dwFThetaCameraConfig::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 f(x) = polynomial[0] + polynomial[1] * x + ... + polynomial[DW_FTHETA_POLY_LENGTH - 1] * x^(DW_FTHETA_POLY_LENGTH - 1)
Definition at line 351 of file RigTypes.h.
| dwFThetaCameraPolynomialType dwFThetaCameraConfig::polynomialType |
Defines whether the polynomial parameter either map angles to pixel-distances (called forward direction) or map pixel-distances to angles (called backward direction).
Definition at line 358 of file RigTypes.h.
| float32_t dwFThetaCameraConfig::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
Definition at line 372 of file RigTypes.h.
| float32_t dwFThetaCameraConfig::t1 |
1st tangential contribution
Definition at line 375 of file RigTypes.h.
| float32_t dwFThetaCameraConfig::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)
Definition at line 325 of file RigTypes.h.
| float32_t dwFThetaCameraConfig::v0 |
V coordinate for the principal point (in pixels)
Definition at line 328 of file RigTypes.h.
| uint32_t dwFThetaCameraConfig::width |
Width of the image (in pixels)
Definition at line 310 of file RigTypes.h.