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Linux Cross Reference
Tina6/tina-libs/tina/geometry/geom_CamDef.h

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  1 /**********
  2  * 
  3  * This file is part of the TINA Open Source Image Analysis Environment
  4  * henceforth known as TINA
  5  *
  6  * TINA is free software; you can redistribute it and/or modify
  7  * it under the terms of the GNU General Public License as 
  8  * published by the Free Software Foundation.
  9  *
 10  * TINA is distributed in the hope that it will be useful,
 11  * but WITHOUT ANY WARRANTY; without even the implied warranty of
 12  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 13  * GNU General Public License for more details.
 14  *
 15  * You should have received a copy of the GNU General Public License
 16  * along with TINA; if not, write to the Free Software Foundation, Inc., 
 17  * 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 18  *
 19  * ANY users of TINA who require exemption from the existing licence must
 20  * negotiate a new licence with Dr. Neil.A.Thacker, the sole agent for
 21  * the University of Manchester.
 22  *
 23  **********
 24  * 
 25  * Program :    TINA
 26  * File    :  $Source: /home/tina/cvs/tina-libs/tina/geometry/geom_CamDef.h,v $
 27  * Date    :  $Date: 2002/12/09 11:51:23 $
 28  * Version :  $Revision: 1.1.1.1 $
 29  * CVS Id  :  $Id: geom_CamDef.h,v 1.1.1.1 2002/12/09 11:51:23 cvstina Exp $
 30  *
 31  * Notes :  
 32  *
 33  *********
 34 */
 35 
 36 #ifndef TINA_GEOM_CAM_DEF_HDR
 37 #define TINA_GEOM_CAM_DEF_HDR
 38 
 39 #include <tina/sys/sysDef.h>
 40 #include <tina/math/mathDef.h>
 41 
 42 typedef struct camera
 43   {
 44       Ts_id   ts_id;            /* Tina structure identifier */
 45       /** camera info **/
 46       unsigned int type;
 47       unsigned int label;
 48 
 49       /** physical parameters **/
 50       float   f;                /* focal length */
 51       float   pixel;            /* notional pixel size */
 52       float   ax, ay;           /* x and y expansion factors (aspect ratio ) */
 53       float   cx, cy;           /* x and y image centre coordinates */
 54       int     width, height;    /* image height and width for which relevant */
 55 
 56       /** transformation from world to camera frame **/
 57       Transform3 *transf;
 58 
 59       /** optical distortion **/
 60       void   *distort_params;
 61       void   *(*copy_dist_func) ();
 62       Vec2 (*distort_func) ();
 63       Vec2 (*correct_func) ();
 64 
 65       /** projection from unit camera to image coordinates **/
 66       Mat3    cam_to_im;
 67       /** projection from image to unit camera coordinates **/
 68       Mat3    im_to_cam;
 69   }
 70 Camera;
 71 
 72 #define CAMERA_SWAP_STRING "uuffffffiippwwwtt"
 73 
 74 typedef struct parcam
 75   {
 76       Ts_id   ts_id;            /* Tina structure identifier */
 77       /** camera info **/
 78       unsigned int type;
 79       unsigned int label;
 80 
 81       float   f;                /* notional focal length */
 82       float   I;                /* interocular separation */
 83       float   pixel;            /* notional pixel size */
 84 
 85       /* cameras and rectified counter parts */
 86       struct camera *cam1;      /* original camera 1 */
 87       struct camera *rcam1;     /* rectified camera 1 */
 88       struct camera *cam2;      /* original camera 2 */
 89       struct camera *rcam2;     /* rectified camera 2 */
 90 
 91       struct mat3 rect1;        /* rectification matrix for camera 1 */
 92       struct mat3 derect1;      /* derectification matrix for camera 1 */
 93 
 94       struct mat3 rect2;        /* rectification matrix for camera 2 */
 95       struct mat3 derect2;      /* derectification matrix for camera 2 */
 96 
 97       struct mat3 e;            /* epipolar colineation matrix */
 98   } Parcam;
 99 
100 #define PARCAM_SWAP_STRING "uufffppppttttt"
101 
102 #endif  /* TINA_GEOM_CAM_DEF_HDR */
103 

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