Detailed Description

Calibrates camera abstraction and functionality.

Typedefs
typedef struct dwCalibratedCameraObject *	dwCalibratedCameraHandle_t
	A pointer to the handle representing a calibrated camera. More...

typedef struct dwCalibratedCameraObject const *	dwConstCalibratedCameraHandle_t
	A pointer to the handle representing a const calibrated camera. More...

Functions
DW_API_PUBLIC dwStatus	dwCalibratedCamera_getHorizontalFOV (float32_t *hfov, dwConstCalibratedCameraHandle_t obj)
	Gets the horizontal Field of View (FOV) of the calibrated camera, in radians. More...

DW_API_PUBLIC dwStatus	dwCalibratedCamera_getInversePolynomial (float32_t invPoly, size_t size, dwCalibratedCameraHandle_t obj)
	Returns the inverse polynomial used for the inverse distortion model. More...

DW_API_PUBLIC dwStatus	dwCalibratedCamera_initializeFTheta (dwCalibratedCameraHandle_t obj, dwContextHandle_t context, const dwFThetaCameraConfig config)
	Creates and initializes a calibrated camera for the F-Theta distortion model. More...

DW_API_PUBLIC dwStatus	dwCalibratedCamera_initializeOCam (dwCalibratedCameraHandle_t obj, dwContextHandle_t context, const dwOCamCameraConfig config)
	Creates and initializes a calibrated omnidirectional camera. More...

DW_API_PUBLIC dwStatus	dwCalibratedCamera_initializePinhole (dwCalibratedCameraHandle_t obj, dwContextHandle_t context, const dwPinholeCameraConfig config)
	Creates and initializes a calibrated pinhole camera. More...

DW_API_PUBLIC dwStatus	dwCalibratedCamera_pixel2Ray (float32_t x, float32_t y, float32_t *z, dwConstCalibratedCameraHandle_t obj, float32_t u, float32_t v)
	Back-projects a 2D point in pixel coordinates to a 3D optical ray direction. More...

DW_API_PUBLIC dwStatus	dwCalibratedCamera_ray2Pixel (float32_t u, float32_t v, dwConstCalibratedCameraHandle_t obj, float32_t x, float32_t y, float32_t z)
	Projects a 3D point in pixel coordinates to a 2D pixel position. More...

DW_API_PUBLIC dwStatus	dwCalibratedCamera_release (dwCalibratedCameraHandle_t *obj)
	Releases the calibrated camera. More...

Typedef Documentation

◆ dwCalibratedCameraHandle_t

typedef struct dwCalibratedCameraObject* dwCalibratedCameraHandle_t

A pointer to the handle representing a calibrated camera.

This object allows the forward projection of 3D points onto 2D image pixels (ray2Pixel) and the corresponding back-projection (pixel2Ray).

Definition at line 66 of file Camera.h.

◆ dwConstCalibratedCameraHandle_t

typedef struct dwCalibratedCameraObject const* dwConstCalibratedCameraHandle_t

A pointer to the handle representing a const calibrated camera.

Definition at line 70 of file Camera.h.

Function Documentation

◆ dwCalibratedCamera_getHorizontalFOV()

DW_API_PUBLIC dwStatus dwCalibratedCamera_getHorizontalFOV	(	float32_t *	hfov,
		dwConstCalibratedCameraHandle_t	obj
	)

Gets the horizontal Field of View (FOV) of the calibrated camera, in radians.

Parameters

[out]	hfov	A pointer to the camera horizontal FOV in radians.
[in]	obj	Handle to the calibrated camera model.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST, DW_INVALID_ARGUMENT

◆ dwCalibratedCamera_getInversePolynomial()

DW_API_PUBLIC dwStatus dwCalibratedCamera_getInversePolynomial	(	float32_t *	invPoly,
		size_t *	size,
		dwCalibratedCameraHandle_t	obj
	)

Returns the inverse polynomial used for the inverse distortion model.

Pinhole cameras use this for the back-projection model.
OCam cameras use this for the forward projection model.

Parameters

[out]	invPoly	Array of coefficients, lower degrees first.
[in,out]	size	Input: size of the polynomial buffer. Output: on success, the number of coefficients returned / the effective polynomial degree.
[in]	obj	Camera handle.

Returns: DW_SUCCESS, DW_INVALID_ARGUMENT, DW_INVALID_HANDLE, DW_BAD_CAST

◆ dwCalibratedCamera_initializeFTheta()

DW_API_PUBLIC dwStatus dwCalibratedCamera_initializeFTheta	(	dwCalibratedCameraHandle_t *	obj,
		dwContextHandle_t	context,
		const dwFThetaCameraConfig *	config
	)

Creates and initializes a calibrated camera for the F-Theta distortion model.

Parameters

[out]	obj	A pointer to the calibrated camera handle is returned here.
[in]	context	Specifies the handle to the context under which it is created.
[in]	config	A pointer to the configuration values for the camera.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST, DW_INVALID_ARGUMENT

◆ dwCalibratedCamera_initializeOCam()

DW_API_PUBLIC dwStatus dwCalibratedCamera_initializeOCam	(	dwCalibratedCameraHandle_t *	obj,
		dwContextHandle_t	context,
		const dwOCamCameraConfig *	config
	)

Creates and initializes a calibrated omnidirectional camera.

See the orignal paper for a description of the model: https://sites.google.com/site/scarabotix/ocamcalib-toolbox Scaramuzza, D. (2008). Omnidirectional Vision: from Calibration to Robot Motion Estimation, ETH Zurich, PhD Thesis no. 17635., February 22, 2008.

Parameters

[out]	obj	A pointer to the calibrated camera handle is returned here.
[in]	context	Specifies the handle to the context under which it is created.
[in]	config	A pointer to the configuration values for the camera.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST, DW_INVALID_ARGUMENT

◆ dwCalibratedCamera_initializePinhole()

DW_API_PUBLIC dwStatus dwCalibratedCamera_initializePinhole	(	dwCalibratedCameraHandle_t *	obj,
		dwContextHandle_t	context,
		const dwPinholeCameraConfig *	config
	)

Creates and initializes a calibrated pinhole camera.

Parameters

[out]	obj	A pointer to the calibrated camera handle is returned here.
[in]	context	Specifies the handle to the context under which it is created.
[in]	config	A pointer to the configuration values for the camera.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST, DW_INVALID_ARGUMENT

◆ dwCalibratedCamera_pixel2Ray()

DW_API_PUBLIC dwStatus dwCalibratedCamera_pixel2Ray	(	float32_t *	x,
		float32_t *	y,
		float32_t *	z,
		dwConstCalibratedCameraHandle_t	obj,
		float32_t	u,
		float32_t	v
	)

Back-projects a 2D point in pixel coordinates to a 3D optical ray direction.

The ray is normalized to have a norm of 1.

Parameters

[out]	x	A pointer to the X coordinate of the ray's direction.
[out]	y	A pointer to the Y coordinate of the ray's direction.
[out]	z	A pointer to the Z coordinate of the ray's direction.
[in]	obj	Specifies the handle to the calibrated camera model.
[in]	u	Specifies the horizontal coordinate of the pixel.
[in]	v	Specifies the vertical coordinate of the pixel.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST, DW_INVALID_ARGUMENT

◆ dwCalibratedCamera_ray2Pixel()

DW_API_PUBLIC dwStatus dwCalibratedCamera_ray2Pixel	(	float32_t *	u,
		float32_t *	v,
		dwConstCalibratedCameraHandle_t	obj,
		float32_t	x,
		float32_t	y,
		float32_t	z
	)

Projects a 3D point in pixel coordinates to a 2D pixel position.

Parameters

[out]	u	A pointer to the horizontal coordinate of the pixel.
[out]	v	A pointer to the vertical coordinate of the pixel.
[in]	obj	Specifies the handle to the calibrated camera model.
[in]	x	Specifies the X coordinate of the point.
[in]	y	Specifies the Y coordinate of the point.
[in]	z	Specifies the Z coordinate of the point.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST, DW_INVALID_ARGUMENT

◆ dwCalibratedCamera_release()

DW_API_PUBLIC dwStatus dwCalibratedCamera_release ( dwCalibratedCameraHandle_t * obj )

Releases the calibrated camera.

This method releases all resources associated with a calibrated camera.

Note: This method renders the handle unusable.

Parameters

[in] obj A pointer to the object handle to be released.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

DriveWorks SDK Reference

| 0.6.67 Release

Detailed Description

Typedefs

Functions

Typedef Documentation

◆ dwCalibratedCameraHandle_t

◆ dwConstCalibratedCameraHandle_t

Function Documentation

◆ dwCalibratedCamera_getHorizontalFOV()

◆ dwCalibratedCamera_getInversePolynomial()

◆ dwCalibratedCamera_initializeFTheta()

◆ dwCalibratedCamera_initializeOCam()

◆ dwCalibratedCamera_initializePinhole()

◆ dwCalibratedCamera_pixel2Ray()

◆ dwCalibratedCamera_ray2Pixel()

◆ dwCalibratedCamera_release()