Compounds | |
struct | Gan_Camera |
Structure containing camera parameters in double precision. More... | |
struct | Gan_Camera_f |
Structure containing camera parameters in single precision. More... | |
Defines | |
#define | CFX camera->fx |
#define | CFY camera->fy |
#define | CX0 camera->x0 |
#define | CY0 camera->y0 |
#define | CZH camera->zh |
#define | CK1 camera->nonlinear.radial1.K1 |
#define | CTR2 camera->nonlinear.radial1.thres_R2 |
#define | CTDR camera->nonlinear.radial1.thres_dR |
#define | COA camera->nonlinear.radial1.outer_a |
#define | COB camera->nonlinear.radial1.outer_b |
#define | R_CHANGE_THRES 1.0e-7 |
#define | MIN_UND_ITERATIONS 6 |
#define | MAX_UND_ITERATIONS 100 |
#define | SMALL_DR_THRES 0.001 |
#define | MODEL_FRACTION 0.95 |
#define | CK2 camera->nonlinear.radial2.K2 |
#define | CK3 camera->nonlinear.radial3.K3 |
#define | CXX camera->nonlinear.xydist4.cxx |
#define | CXY camera->nonlinear.xydist4.cxy |
#define | CYX camera->nonlinear.xydist4.cyx |
#define | CYY camera->nonlinear.xydist4.cyy |
#define | SMALL_DR_THRES_SQUARED 1.0e-6 |
#define | TERMINATION_THRESHOLD 1.0e-7 |
Typedefs | |
typedef Gan_Camera | Gan_Camera |
Structure containing camera parameters in double precision. | |
typedef Gan_Camera_f | Gan_Camera_f |
Structure containing camera parameters in single precision. | |
Enumerations | |
enum | Gan_CameraType { GAN_LINEAR_CAMERA, GAN_RADIAL_DISTORTION_1, GAN_RADIAL_DISTORTION_2, GAN_RADIAL_DISTORTION_3, GAN_RADIAL_DISTORTION_1_INV, GAN_STEREOGRAPHIC_CAMERA, GAN_EQUIDISTANT_CAMERA, GAN_SINE_LAW_CAMERA, GAN_EQUI_SOLID_ANGLE_CAMERA, GAN_XY_DISTORTION_4 } |
Camera models supported by Gandalf. More... | |
Functions | |
Gan_Bool | gan_camera_build_va (Gan_Camera *camera, Gan_CameraType type, double zh, double fx, double fy, double x0, double y0,...) |
Constructs a structure representing a camera. | |
Gan_Bool | gan_camera_internalize (Gan_Camera *camera) |
Builds the internals of a camera. | |
Gan_Bool | gan_camera_set_gamma (Gan_Camera *camera, double gamma) |
Sets the gamma for images taken with this camera. | |
Gan_SquMatrix33 | gan_camera_fill_matrix_s (Gan_Camera *camera) |
Fills and returns a 3x3 upper triangular camera matrix. | |
Gan_Bool | gan_camera_project_point_gen (Gan_Camera *camera, Gan_Vector3 *X, Gan_Vector3 *p, Gan_Matrix22 *HX, Gan_Camera HC[2], int *error_code) |
Macro: Projects a point from the scene onto the image. | |
Gan_Bool | gan_camera_project_point (Gan_Camera *camera, Gan_Vector3 *X, Gan_Vector3 *p, int *error_code) |
Macro: Projects a point from the scene onto the image. | |
Gan_Bool | gan_camera_project_point_q (Gan_Camera *camera, Gan_Vector3 *X, Gan_Vector3 *p) |
Macro: Projects a point from the scene onto the image. | |
Gan_Bool | gan_camera_project_point_i (Gan_Camera *camera, Gan_Vector3 *X) |
Macro: Projects a point from the scene onto the image. | |
Gan_Bool | gan_camera_backproject_point (Gan_Camera *camera, Gan_Vector3 *p, Gan_Vector3 *X, int *error_code) |
Macro: Back-projects an image point into the scene. | |
Gan_Bool | gan_camera_backproject_point_q (Gan_Camera *camera, Gan_Vector3 *p, Gan_Vector3 *X) |
Macro: Back-projects an image point into the scene. | |
Gan_Bool | gan_camera_backproject_point_i (Gan_Camera *camera, Gan_Vector3 *p) |
Macro: Back-projects an image point into the scene. | |
Gan_Bool | gan_camera_add_distortion (Gan_Camera *camera, Gan_Vector3 *pu, Gan_Vector3 *p, int *error_code) |
Macro: Applies non-linear distortion to an image point. | |
Gan_Bool | gan_camera_add_distortion_q (Gan_Camera *camera, Gan_Vector3 *pu, Gan_Vector3 *p) |
Macro: Applies non-linear distortion to an image point. | |
Gan_Bool | gan_camera_add_distortion_i (Gan_Camera *camera, Gan_Vector3 *p) |
Macro: Applies non-linear distortion to an image point. | |
Gan_Bool | gan_camera_remove_distortion (Gan_Camera *camera, Gan_Vector3 *p, Gan_Vector3 *pu, int *error_code) |
Macro: Removes non-linear distortion from an image point. | |
Gan_Bool | gan_camera_remove_distortion_q (Gan_Camera *camera, Gan_Vector3 *p, Gan_Vector3 *pu) |
Macro: Removes non-linear distortion from an image point. | |
Gan_Bool | gan_camera_remove_distortion_i (Gan_Camera *camera, Gan_Vector3 *p) |
Macro: Removes non-linear distortion from an image point. | |
Gan_Bool | gan_camera_project_line_q (Gan_Camera *camera, Gan_Vector3 *L, Gan_Vector3 *l) |
Macro: Projects a line from the scene onto the image. | |
Gan_Bool | gan_camera_project_line_i (Gan_Camera *camera, Gan_Vector3 *L) |
Macro: Projects a line from the scene onto the image. | |
Gan_Bool | gan_camera_backproject_line_q (Gan_Camera *camera, Gan_Vector3 *l, Gan_Vector3 *L) |
Macro: Back-projects an image line into the scene. | |
Gan_Bool | gan_camera_backproject_line_i (Gan_Camera *camera, Gan_Vector3 *l) |
Macro: Back-projects an image line into the scene. | |
Gan_Bool | gan_cameraf_from_camera_q (Gan_Camera *camera, Gan_Camera_f *cameraf) |
Converts camera from double to single precision representation. | |
Gan_Bool | gan_camera_from_cameraf_q (Gan_Camera_f *cameraf, Gan_Camera *camera) |
Converts camera from single to double precision representation. | |
Gan_Camera_f | gan_cameraf_from_camera_s (Gan_Camera *camera) |
Converts camera from double to single precision representation. | |
Gan_Camera | gan_camera_from_cameraf_s (Gan_Camera_f *cameraf) |
Converts camera from single to double precision representation. | |
Gan_Bool | gan_camera_build_equi_solid_angle (Gan_Camera *camera, double zh, double fx, double fy, double x0, double y0) |
Builds a structure representing a equi-solid angle camera. | |
Gan_Bool | gan_camera_build_equidistant (Gan_Camera *camera, double zh, double fx, double fy, double x0, double y0) |
Builds a structure representing a equidistant camera. | |
Gan_Bool | gan_camera_build_linear (Gan_Camera *camera, double zh, double fx, double fy, double x0, double y0) |
Builds a structure representing a linear camera. | |
Gan_Bool | gan_camera_build_radial_distortion_1 (Gan_Camera *camera, double zh, double fx, double fy, double x0, double y0, double K1) |
Builds a structure representing a non-linear camera. | |
Gan_Bool | gan_camera_build_radial_distortion_1_inv (Gan_Camera *camera, double zh, double fx, double fy, double x0, double y0, double K1) |
Builds a structure representing a non-linear camera. | |
Gan_Bool | gan_camera_build_radial_distortion_2 (Gan_Camera *camera, double zh, double fx, double fy, double x0, double y0, double K1, double K2) |
Builds a structure representing a non-linear camera. | |
Gan_Bool | gan_camera_build_radial_distortion_3 (Gan_Camera *camera, double zh, double fx, double fy, double x0, double y0, double K1, double K2, double K3) |
Builds a structure representing a non-linear camera. | |
Gan_Bool | gan_camera_build_sine_law (Gan_Camera *camera, double zh, double fx, double fy, double x0, double y0) |
Builds a structure representing a sine law camera. | |
Gan_Bool | gan_camera_build_stereographic (Gan_Camera *camera, double zh, double fx, double fy, double x0, double y0) |
Builds a structure representing a stereographic camera. | |
Gan_Bool | gan_camera_build_xy_distortion_4 (Gan_Camera *camera, double zh, double fx, double fy, double x0, double y0, double cxx, double cxy, double cyx, double cyy) |
Builds a structure representing a xy-distortion camera. | |
Gan_Bool | gan_cameraf_build_va (Gan_Camera_f *camera, Gan_CameraType type, float zh, float fx, float fy, float x0, float y0,...) |
Constructs a structure representing a camera. | |
Gan_Bool | gan_cameraf_internalize (Gan_Camera_f *camera) |
Builds the internals of a camera. | |
Gan_Bool | gan_cameraf_set_gamma (Gan_Camera_f *camera, float gamma) |
Sets the gamma for images taken with this camera. | |
Gan_SquMatrix33_f | gan_cameraf_fill_matrix_s (Gan_Camera_f *camera) |
Fills and returns a 3x3 upper triangular camera matrix. | |
Gan_Bool | gan_cameraf_project_point_gen (Gan_Camera_f *camera, Gan_Vector3_f *X, Gan_Vector3_f *p, Gan_Matrix22_f *HX, Gan_Camera_f HC[2], int *error_code) |
Macro: Projects a point from the scene onto the image. | |
Gan_Bool | gan_cameraf_project_point (Gan_Camera_f *camera, Gan_Vector3_f *X, Gan_Vector3_f *p, int *error_code) |
Macro: Projects a point from the scene onto the image. | |
Gan_Bool | gan_cameraf_project_point_q (Gan_Camera_f *camera, Gan_Vector3_f *X, Gan_Vector3_f *p) |
Macro: Projects a point from the scene onto the image. | |
Gan_Bool | gan_cameraf_project_point_i (Gan_Camera_f *camera, Gan_Vector3_f *X) |
Macro: Projects a point from the scene onto the image. | |
Gan_Bool | gan_cameraf_backproject_point (Gan_Camera_f *camera, Gan_Vector3_f *p, Gan_Vector3_f *X, int *error_code) |
Macro: Back-projects an image point into the scene. | |
Gan_Bool | gan_cameraf_backproject_point_q (Gan_Camera_f *camera, Gan_Vector3_f *p, Gan_Vector3_f *X) |
Macro: Back-projects an image point into the scene. | |
Gan_Bool | gan_cameraf_backproject_point_i (Gan_Camera_f *camera, Gan_Vector3_f *p) |
Macro: Back-projects an image point into the scene. | |
Gan_Bool | gan_cameraf_add_distortion (Gan_Camera_f *camera, Gan_Vector3_f *pu, Gan_Vector3_f *p, int *error_code) |
Macro: Applies non-linear distortion to an image point. | |
Gan_Bool | gan_cameraf_add_distortion_q (Gan_Camera_f *camera, Gan_Vector3_f *pu, Gan_Vector3_f *p) |
Macro: Applies non-linear distortion to an image point. | |
Gan_Bool | gan_cameraf_add_distortion_i (Gan_Camera_f *camera, Gan_Vector3_f *p) |
Macro: Applies non-linear distortion to an image point. | |
Gan_Bool | gan_cameraf_remove_distortion (Gan_Camera_f *camera, Gan_Vector3_f *p, Gan_Vector3_f *pu, int *error_code) |
Macro: Removes non-linear distortion from an image point. | |
Gan_Bool | gan_cameraf_remove_distortion_q (Gan_Camera_f *camera, Gan_Vector3_f *p, Gan_Vector3_f *pu) |
Macro: Removes non-linear distortion from an image point. | |
Gan_Bool | gan_cameraf_remove_distortion_i (Gan_Camera_f *camera, Gan_Vector3_f *p) |
Macro: Removes non-linear distortion from an image point. | |
Gan_Bool | gan_cameraf_project_line_q (Gan_Camera_f *camera, Gan_Vector3_f *L, Gan_Vector3_f *l) |
Macro: Projects a line from the scene onto the image. | |
Gan_Bool | gan_cameraf_project_line_i (Gan_Camera_f *camera, Gan_Vector3_f *L) |
Macro: Projects a line from the scene onto the image. | |
Gan_Bool | gan_cameraf_backproject_line_q (Gan_Camera_f *camera, Gan_Vector3_f *l, Gan_Vector3_f *L) |
Macro: Back-projects an image line into the scene. | |
Gan_Bool | gan_cameraf_backproject_line_i (Gan_Camera_f *camera, Gan_Vector3_f *l) |
Macro: Back-projects an image line into the scene. | |
Gan_Bool | gan_cameraf_build_equi_solid_angle (Gan_Camera_f *camera, float zh, float fx, float fy, float x0, float y0) |
Builds a structure representing a equi-solid angle camera. | |
Gan_Bool | gan_cameraf_build_equidistant (Gan_Camera_f *camera, float zh, float fx, float fy, float x0, float y0) |
Builds a structure representing a equidistant camera. | |
Gan_Bool | gan_cameraf_build_linear (Gan_Camera_f *camera, float zh, float fx, float fy, float x0, float y0) |
Builds a structure representing a linear camera. | |
Gan_Bool | gan_cameraf_build_radial_distortion_1 (Gan_Camera_f *camera, float zh, float fx, float fy, float x0, float y0, float K1) |
Builds a structure representing a non-linear camera. | |
Gan_Bool | gan_cameraf_build_radial_distortion_1_inv (Gan_Camera_f *camera, float zh, float fx, float fy, float x0, float y0, float K1) |
Builds a structure representing a non-linear camera. | |
Gan_Bool | gan_cameraf_build_radial_distortion_2 (Gan_Camera_f *camera, float zh, float fx, float fy, float x0, float y0, float K1, float K2) |
Builds a structure representing a non-linear camera. | |
Gan_Bool | gan_cameraf_build_radial_distortion_3 (Gan_Camera_f *camera, float zh, float fx, float fy, float x0, float y0, float K1, float K2, float K3) |
Builds a structure representing a non-linear camera. | |
Gan_Bool | gan_cameraf_build_sine_law (Gan_Camera_f *camera, float zh, float fx, float fy, float x0, float y0) |
Builds a structure representing a sine law camera. | |
Gan_Bool | gan_cameraf_build_stereographic (Gan_Camera_f *camera, float zh, float fx, float fy, float x0, float y0) |
Builds a structure representing a stereographic camera. | |
Gan_Bool | gan_cameraf_build_xy_distortion_4 (Gan_Camera_f *camera, float zh, float fx, float fy, float x0, float y0, float cxx, float cxy, float cyx, float cyy) |
Builds a structure representing a xy-distortion camera. |
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Structure containing camera parameters in double precision.
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Structure containing camera parameters in single precision.
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Macro: Applies non-linear distortion to an image point.
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Macro: Applies non-linear distortion to an image point.
This is a macro call to gan_camera_add_distortion_q().
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Macro: Applies non-linear distortion to an image point.
This is a macro call to gan_camera_add_distortion_q().
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Macro: Back-projects an image line into the scene.
This is a macro call to gan_camera_backproject_line_q().
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Macro: Back-projects an image line into the scene.
![]()
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Macro: Back-projects an image point into the scene.
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Macro: Back-projects an image point into the scene.
This is a macro call to gan_camera_backproject_point_q().
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Macro: Back-projects an image point into the scene.
Implemented as a macro call to gan_camera_backproject_point().
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Builds a structure representing a equi-solid angle camera.
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Builds a structure representing a equidistant camera.
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Builds a structure representing a linear camera.
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Builds a structure representing a non-linear camera.
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Builds a structure representing a non-linear camera.
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Builds a structure representing a non-linear camera.
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Builds a structure representing a non-linear camera.
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Builds a structure representing a sine law camera.
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Builds a structure representing a stereographic camera.
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Constructs a structure representing a camera.
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Builds a structure representing a xy-distortion camera.
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Fills and returns a 3x3 upper triangular camera matrix.
Double precision version of gan_cameraf_fill_matrix_q().
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Converts camera from single to double precision representation.
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Converts camera from single to double precision representation.
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Builds the internals of a camera.
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Macro: Projects a line from the scene onto the image.
![]() This is a macro call to gan_camera_project_line_q().
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Macro: Projects a line from the scene onto the image.
![]()
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Macro: Projects a point from the scene onto the image.
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Macro: Projects a point from the scene onto the image.
This function also computes the Jacobians of the projection w.r.t. the x & y coordinates of the camera coordinates X and the camera parameters in the matrix HX and the array HC, which may be passed as
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Macro: Projects a point from the scene onto the image.
This is a macro call to gan_camera_project_point_q().
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Macro: Projects a point from the scene onto the image.
Implemented as a macro call to gan_camera_project_point_gen().
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Macro: Removes non-linear distortion from an image point.
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Macro: Removes non-linear distortion from an image point.
This is a macro call to gan_camera_remove_distortion_q().
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Macro: Removes non-linear distortion from an image point.
This is a macro call to gan_camera_remove_distortion_q().
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Sets the gamma for images taken with this camera.
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Macro: Applies non-linear distortion to an image point.
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Macro: Applies non-linear distortion to an image point.
This is a macro call to gan_cameraf_add_distortion_q().
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Macro: Applies non-linear distortion to an image point.
This is a macro call to gan_cameraf_add_distortion_q().
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Macro: Back-projects an image line into the scene.
This is a macro call to gan_cameraf_backproject_line_q().
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Macro: Back-projects an image line into the scene.
![]()
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Macro: Back-projects an image point into the scene.
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Macro: Back-projects an image point into the scene.
This is a macro call to gan_cameraf_backproject_point_q().
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Macro: Back-projects an image point into the scene.
Implemented as a macro call to gan_cameraf_backproject_point().
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Builds a structure representing a equi-solid angle camera.
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Builds a structure representing a equidistant camera.
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Builds a structure representing a linear camera.
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Builds a structure representing a non-linear camera.
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Builds a structure representing a non-linear camera.
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Builds a structure representing a non-linear camera.
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Builds a structure representing a non-linear camera.
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Builds a structure representing a sine law camera.
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Builds a structure representing a stereographic camera.
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Constructs a structure representing a camera.
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Builds a structure representing a xy-distortion camera.
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Fills and returns a 3x3 upper triangular camera matrix.
Single precision version of gan_camera_fill_matrix_q().
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Converts camera from double to single precision representation.
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Converts camera from double to single precision representation.
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Builds the internals of a camera.
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Macro: Projects a line from the scene onto the image.
![]() This is a macro call to gan_cameraf_project_line_q().
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Macro: Projects a line from the scene onto the image.
![]()
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Macro: Projects a point from the scene onto the image.
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Macro: Projects a point from the scene onto the image.
This function also computes the Jacobians of the projection w.r.t. the x & y coordinates of the camera coordinates X and the camera parameters in the matrix HX and the array HC, which may be passed as
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Macro: Projects a point from the scene onto the image.
This is a macro call to gan_cameraf_project_point_q().
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Macro: Projects a point from the scene onto the image.
Implemented as a macro call to gan_cameraf_project_point_gen().
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Macro: Removes non-linear distortion from an image point.
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Macro: Removes non-linear distortion from an image point.
This is a macro call to gan_cameraf_remove_distortion_q().
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Macro: Removes non-linear distortion from an image point.
This is a macro call to gan_cameraf_remove_distortion_q().
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Sets the gamma for images taken with this camera.
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