Gan_Camera_f Struct Reference
[Camera geometric/photometric transformations]

Structure containing camera parameters in single precision. More...

#include <gandalf/vision/cameraf.h>

List of all members.

Public Attributes
Gan_CameraType	type
	Type of camera.
float	fx
	focal distance in x/y pixels
float	fy
	focal distance in x/y pixels
float	fy_over_fx
	focal distance in x/y pixels
float	x0
	image centre x/y coordinates
float	y0
	image centre x/y coordinates
float	zh
	third homogeneous image coordinate
union {
struct {
float   K1
	Distortion coefficients.
float   thres_R2
	Thresholds on and .
float   thres_dR
	Thresholds on and .
float   outer_a
	Outer linear model parameters.
float   outer_b
	Outer linear model parameters.
}   radial1
struct {
float   K1
	Distortion coefficients.
float   K2
	Distortion coefficients.
float   thres_R2
	Thresholds on and .
float   thres_dR
	Thresholds on and .
float   outer_a
	Outer linear model parameters.
float   outer_b
	Outer linear model parameters.
}   radial2
struct {
float   K1
	Distortion coefficients.
float   K2
	Distortion coefficients.
float   K3
	Distortion coefficients.
float   thres_R2
	Thresholds on and .
float   thres_dR
	Thresholds on and .
float   outer_a
	Outer linear model parameters.
float   outer_b
	Outer linear model parameters.
}   radial3
struct {
float   cxx
float   cxy
float   cyx
float   cyy
}   xydist4
struct {
float   xla
float   xlp
float   xha
float   xhp
float   yla
float   ylp
float   yha
float   yhp
}   fcwarp
struct {
float   skew
	skew and lower triangle components store in a scale-independent manner
float   kyx
	skew and lower triangle components store in a scale-independent manner
float   kzx
	skew and lower triangle components store in a scale-independent manner
float   kzy
	skew and lower triangle components store in a scale-independent manner
Gan_Matrix33_f   K
	non-triangular camera matrix and its inverse
Gan_Matrix33_f   Kinv
	non-triangular camera matrix and its inverse
Gan_Vector2_f   weight [1+(1<< 4)][1+(1<< 4)]
	Cubic B-spline parameters.
}   cbspline
}	nonlinear
	Supplementary parameters for non-linear camera models.
struct {
Gan_Bool(*   project )(const struct Gan_Camera_f *camera, Gan_Vector3_f *X, Gan_Vector3_f *p, Gan_Matrix22_f *HX, struct Gan_Camera_f *HC, int *error_code)
	point projection function
Gan_Bool(*   backproject )(const struct Gan_Camera_f *camera, Gan_Vector3_f *p, Gan_Vector3_f *X, int *error_code)
	point back-projection function
Gan_Bool(*   add_distortion )(const struct Gan_Camera_f *camera, Gan_Vector3_f *pu, Gan_Vector3_f *p, int *error_code)
	function to add distortion to a point
Gan_Bool(*   remove_distortion )(const struct Gan_Camera_f *camera, Gan_Vector3_f *p, Gan_Vector3_f *pu, int *error_code)
	function to remove distortion from a point
}	pointf
	point functions
struct {
Gan_Bool(*   project )(const struct Gan_Camera_f *camera, Gan_Vector3_f *L, Gan_Vector3_f *l)
	line projection function
Gan_Bool(*   backproject )(const struct Gan_Camera_f *camera, Gan_Vector3_f *l, Gan_Vector3_f *L)
	line back-projection function
}	linef
	line functions

---

Detailed Description

Structure containing camera parameters in single precision.

---

Member Data Documentation

union { ... } Gan_Camera_f::nonlinear

Supplementary parameters for non-linear camera models. The thresholds are the square of the undistorted radial camera coordinate where the first reversal of distortion occurs (thres_R2), and the similar threshold on the distorted radial distance , involving both the distortion coefficient and (thres_dR), at the same reversal point. Both thresholds are set to FLT_MAX if there is no reversal.

---

The documentation for this struct was generated from the following file:

• gandalf/vision/cameraf.h

---