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The camera calibration matrix
is triangular. Gandalf provides a
routine to build
from the calibration structure. The double precision
version is
Gan_Camera CameraD; /* declare camera structure */
Gan_SquMatrix33 sm33K; /* declare camera calibration matrix K */
/* ... build camera using e.g. gan_camera_build_linear() ... */
/* build camera calibration matrix K */
sm33K = gan_camera_fill_matrix_s ( &CameraD );
and the single precision version is
Gan_Camera_f CameraF; /* declare camera structure */
Gan_SquMatrix33_f sm33K; /* declare camera calibration matrix K */
/* ... build camera using e.g. gan_cameraf_build_linear() ... */
/* build camera calibration matrix K */
sm33K = gan_cameraf_fill_matrix_s ( &CameraF );
Note that although
is an upper triangular matrix, the routines above
produce a lower triangular matrix, since that is the only form of
fixed size triangular matrix supported by Gandalf. As explained in
Section 3.1.2, Any operations involving upper triangular
matrices can be implemented using implicit transpose of a lower triangular
matrix.
2003-10-13