User manual

Small Vision System User Manual 44
and Z along the line of sight */
double Tx; /* [mm] */
double Ty; /* [mm] */
double Tz; /* [mm] */
double Rx; /* [rad] Yaw */
double Ry; /* [rad] Pitch */
double Rz; /* [rad] Roll */
unsigned long reserved;
} svsSP;
typedef struct {
/* Intrinsic parameters */
int pwidth; /* [pix] Width of frame grabber's image */
int pheight; /* [pix] Height of frame grabber's image */
double dpx; /* [mm/pix] X dimension of pixel in frame grabber */
double dpy; /* [mm/pix] Y dimension of pixel in frame grabber */
double sx; /* [] Scale factor to compensate for any error
in dpx */
double Cx; /* [pix] Z axis intercept of image plane */
double Cy; /* [pix] Z axis intercept of image plane */
double f; /* [mm] Focal length */
double kappa1; /* [1/mm^2] First coefficient of radial distortion
*/
double kappa2; /* [1/mm^4] Second coefficient of radial distortion
*/
float proj[3][4]; /* projection matrix of rectified image */
float rect[3][3]; /* rectification transform after correction for
lens distortion */
} svsIP;