t_camera_models.h File Reference

Camera (un)projection C API for various camera models. More...

#include "tracking/t_tracking.h"

Include dependency graph for t_camera_models.h:

Go to the source code of this file.

Data Structures
struct	t_camera_calibration_kb4_params_float
	Floating point parameters for T_DISTORTION_FISHEYE_KB4. More...
struct	t_camera_calibration_rt8_params_float
	Floating point parameters for T_DISTORTION_OPENCV_RADTAN_8, also including metric_radius. More...
struct	t_camera_model_params
	Floating point calibration data for a single calibrated camera. More...

Functions
void	t_camera_model_params_from_t_camera_calibration (const struct t_camera_calibration *cc, struct t_camera_model_params *out_params)
	Takes a t_camera_calibration through cc, and returns a t_camera_model_params that shadows cc 's parameters through out_params.
bool	t_camera_models_unproject (const struct t_camera_model_params *dist, const float x, const float y, float *out_x, float *out_y, float *out_z)
	Takes a 2D image-space point through x and y, unprojects it to a normalized 3D direction, and returns the result through out_x, out_y and out_z.
bool	t_camera_models_unproject_and_flip (const struct t_camera_model_params *dist, const float x, const float y, float *out_x, float *out_y, float *out_z)
	Takes a 2D image-space point through x and y, unprojects it to a normalized 3D direction, flips its Y and Z values (performing a coordinate space transform from +Z forward -Y up to -Z forward +Y up) and returns the result through out_x, out_y and out_z.
void	t_camera_models_undistort (const struct t_camera_model_params *dist, const float x, const float y, float *out_x, float *out_y)
	Takes a distorted 2D point through x and y and computes the undistorted point into out_x and out_y.
bool	t_camera_models_project (const struct t_camera_model_params *dist, const float x, const float y, const float z, float *out_x, float *out_y)
	Takes a 3D point through x, y, and z, projects it into image space, and returns the result through out_x and out_y.
bool	t_camera_models_flip_and_project (const struct t_camera_model_params *dist, const float x, const float y, const float z, float *out_x, float *out_y)
	Takes a 3D point through x, y, and z, flips its Y and Z values (performing a coordinate space transform from -Z forward +Y up to +Z forward -Y up), projects it into image space, and returns the result through out_x and out_y.

Detailed Description

Camera (un)projection C API for various camera models.

Author

Moshi Turner moshi.nosp@m.turn.nosp@m.er@pr.nosp@m.oton.nosp@m.mail..nosp@m.com

Beyley Cardellio ep1cm.nosp@m.1n10.nosp@m.n123@.nosp@m.gmai.nosp@m.l.com

Function Documentation

t_camera_model_params_from_t_camera_calibration()

void t_camera_model_params_from_t_camera_calibration	(	const struct t_camera_calibration *	cc,
		struct t_camera_model_params *	out_params
	)

Takes a t_camera_calibration through cc, and returns a t_camera_model_params that shadows cc 's parameters through out_params.

t_camera_models_flip_and_project()

bool t_camera_models_flip_and_project	(	const struct t_camera_model_params *	dist,
		const float	x,
		const float	y,
		const float	z,
		float *	out_x,
		float *	out_y
	)

Takes a 3D point through x, y, and z, flips its Y and Z values (performing a coordinate space transform from -Z forward +Y up to +Z forward -Y up), projects it into image space, and returns the result through out_x and out_y.

t_camera_models_project()

bool t_camera_models_project	(	const struct t_camera_model_params *	dist,
		const float	x,
		const float	y,
		const float	z,
		float *	out_x,
		float *	out_y
	)

Takes a 3D point through x, y, and z, projects it into image space, and returns the result through out_x and out_y.

t_camera_models_undistort()

void t_camera_models_undistort	(	const struct t_camera_model_params *	dist,
		const float	x,
		const float	y,
		float *	out_x,
		float *	out_y
	)

Takes a distorted 2D point through x and y and computes the undistorted point into out_x and out_y.

t_camera_models_unproject()

bool t_camera_models_unproject	(	const struct t_camera_model_params *	dist,
		const float	x,
		const float	y,
		float *	out_x,
		float *	out_y,
		float *	out_z
	)

Takes a 2D image-space point through x and y, unprojects it to a normalized 3D direction, and returns the result through out_x, out_y and out_z.

t_camera_models_unproject_and_flip()

bool t_camera_models_unproject_and_flip	(	const struct t_camera_model_params *	dist,
		const float	x,
		const float	y,
		float *	out_x,
		float *	out_y,
		float *	out_z
	)

Takes a 2D image-space point through x and y, unprojects it to a normalized 3D direction, flips its Y and Z values (performing a coordinate space transform from +Z forward -Y up to -Z forward +Y up) and returns the result through out_x, out_y and out_z.