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Linux Cross Reference
Tina4/src/vision/camera/camera.h

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Architecture: ~ [ i386 ] ~ [ alpha ] ~ [ m68k ] ~ [ mips ] ~ [ ppc ] ~ [ sparc ] ~ [ sparc64 ] ~

  1 /** @(#)General camera definition
  2 **/
  3 
  4 #ifndef CAMERA_HEADS_DEFINED
  5 #define CAMERA_HEADS_DEFINED
  6 /* comment */
  7 
  8 typedef struct camera
  9   {
 10       Ts_id   ts_id;            /* Tina structure identifier */
 11       /** camera info **/
 12       unsigned int type;
 13       unsigned int label;
 14 
 15       /** physical parameters **/
 16       float   f;                /* focal length */
 17       float   pixel;            /* notional pixel size */
 18       float   ax, ay;           /* x and y expansion factors (aspect ratio ) */
 19       float   cx, cy;           /* x and y image centre coordinates */
 20       int     width, height;    /* image height and width for which relevant */
 21 
 22       /** transformation from world to camera frame **/
 23       Transform3 *transf;
 24 
 25       /** optical distortion **/
 26       void   *distort_params;
 27       void   *(*copy_dist_func) ();
 28       Vec2 (*distort_func) ();
 29       Vec2 (*correct_func) ();
 30 
 31       /** projection from unit camera to image coordinates **/
 32       Mat3    cam_to_im;
 33       /** projection from image to unit camera coordinates **/
 34       Mat3    im_to_cam;
 35   }
 36 Camera;
 37 
 38 #define CAMERA_SWAP_STRING "uuffffffiippwwwtt"
 39 
 40 typedef struct parcam
 41   {
 42       Ts_id   ts_id;            /* Tina structure identifier */
 43       /** camera info **/
 44       unsigned int type;
 45       unsigned int label;
 46 
 47       float   f;                /* notional focal length */
 48       float   I;                /* interocular separation */
 49       float   pixel;            /* notional pixel size */
 50 
 51       /* cameras and rectified counter parts */
 52       struct camera *cam1;      /* original camera 1 */
 53       struct camera *rcam1;     /* rectified camera 1 */
 54       struct camera *cam2;      /* original camera 2 */
 55       struct camera *rcam2;     /* rectified camera 2 */
 56 
 57       struct mat3 rect1;        /* rectification matrix for camera 1 */
 58       struct mat3 derect1;      /* derectification matrix for camera 1 */
 59 
 60       struct mat3 rect2;        /* rectification matrix for camera 2 */
 61       struct mat3 derect2;      /* derectification matrix for camera 2 */
 62 
 63       struct mat3 e;            /* epipolar colineation matrix */
 64   } Parcam;
 65 
 66 #define PARCAM_SWAP_STRING "uufffppppttttt"
 67 
 68 #endif /* CAMERA_HEADS_DEFINED */
 69 

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