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.
Definition at line 519 of file RigTypes.h.
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. More... | |
| 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. More... | |
| 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). More... | |
| float32_t dwWindshieldModelConfig::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) + ...
Definition at line 531 of file RigTypes.h.
| dwWindshieldPolynomialType dwWindshieldModelConfig::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).
Definition at line 550 of file RigTypes.h.
| float32_t dwWindshieldModelConfig::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) + ...
Definition at line 543 of file RigTypes.h.