sc_optics.h File Reference

Optical functions. More...

Classes
struct	camera_data_s
	Optical functions. More...
Typedefs
typedef struct camera_data_s	camera_data_t
	Optical functions.
Functions
double	effective_focal_length (ml_matrix distance, ml_matrix focal_length)
	Computes effective focal length.
double	diffraction_limit (double lambda, double aperture)
	Diffraction resolution limit.
ml_matrix	angle_of_view (double focal_length, ml_matrix d)
	Angle of view from focal length with a 2D input.
double	angle_of_view (double focal_length, double d)
	Angle of view from focal length with a 1D input.
ml_matrix	angle_of_view (ml_matrix focal_length, double d)
	Angle of view from a matrix of focal lengths with a 1D input.
double	focal_length_from_angle_of_view (double alpha, double d)
	Focal length from angle of view.
ml_matrix	separation_angles (ml_matrix u)
	Separation angles and pairs.
ml_matrix	pix_to_u (ml_matrix p, double f)
	Converts a pixel map to a unit vector assuming a pinhole camera model.
ml_matrix	u_to_pix (ml_matrix u, double f)
	Converts a unit vector to a pixel map assuming a pinhole camera model.
ml_matrix	vm_to_intensity (ml_matrix v)
	Converts visual magnitude to intensity.
ml_matrix	intensity_to_vm (ml_matrix i)
	Converts intensity to visual magnitude.
double	vm_to_intensity (double v)
	Converts visual magnitude to intensity.
double	intensity_to_vm (double i)
	Converts intensity to visual magnitude.
double	laser_beam_radius (double d, double lambda, double z)
	Laser beam radius.
double	laser_power (double d, double lambda, double z, double power)
	Laser power.
camera_data_t	camera_calibration (const ml_matrix &pD, const ml_matrix &pW)
	Camera calibration.
ml_matrix	calibration_cube (double w, double r, int n)
	Camera cube.
ml_matrix	camera_calibration_model (camera_data_t d, const ml_matrix &pW, double f)
	Camera model.

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Detailed Description

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Typedef Documentation

typedef struct camera_data_s camera_data_t

Structure for storing camera data.

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Function Documentation

double effective_focal_length	(	ml_matrix	distance,
		ml_matrix	focal_length
	)

Computes effective focal length.

Parameters:

distance	Array of distances between lenses
focal_length	Array of lens focal lengths

Returns:

Effective focal length

double diffraction_limit	(	double	lambda,
		double	aperture
	)

Diffraction resolution limit.

Parameters:

lambda	Wavelength
aperture	Width of aperture

Returns:

Diffraction limited resolution

ml_matrix angle_of_view	(	double	focal_length,
		ml_matrix	d
	)

Angle of view from focal length with a 2D input.

Parameters:

focal_length	Focal length
d	Width of imaging chip

Returns:

Angle of view

double angle_of_view	(	double	focal_length,
		double	d
	)

Angle of view from focal length with a 1D input.

Parameters:

focal_length	Focal length
d	Width of imaging chip

Returns:

Angle of view

ml_matrix angle_of_view	(	ml_matrix	focal_length,
		double	d
	)

Angle of view from a matrix of focal lengths with a 1D input.

Parameters:

focal_length	Focal length
d	Width of imaging chip

Returns:

Angle of view

double focal_length_from_angle_of_view	(	double	alpha,
		double	d
	)

Focal length from angle of view.

Parameters:

alpha

Angle of view

Returns:

Width of imaging chip

ml_matrix pix_to_u	(	ml_matrix	p,
		double	f
	)

Converts a pixel map to a unit vector assuming a pinhole camera model.

Parameters:

p	Pixel coordinates
f	Focal length

Returns:

Unit vectors

ml_matrix u_to_pix	(	ml_matrix	r,
		double	f
	)

Converts a unit vector to a pixel map assuming a pinhole camera model.

Parameters:

r	Position vector
f	Focal length

Returns:

[x;y] in pixel frames

ml_matrix vm_to_intensity

(

ml_matrix

v )

Converts visual magnitude to intensity.

Parameters:

v	Visual magnitude

Returns:

Intensity

ml_matrix intensity_to_vm

(

ml_matrix

i )

Converts intensity to visual magnitude.

Parameters:

i

Intensity

Returns:

Visual magnitude

double vm_to_intensity

(

double

v )

Converts visual magnitude to intensity.

Parameters:

v	Visual magnitude

Returns:

Intensity

double intensity_to_vm

(

double

i )

Converts intensity to visual magnitude.

Parameters:

i

Intensity

Returns:

Visual magnitude

double laser_beam_radius	(	double	d,
		double	lambda,
		double	z
	)

Laser beam radius.

Parameters:

d	Aperture (m)
lambda	Wavelength (m)
range	(m)

Returns:

Beam radius (m)

References PI.

double laser_power	(	double	d,
		double	lambda,
		double	z,
		double	power
	)

Laser power.

Parameters:

d	Aperture (m)
lambda	Wavelength (m)
range	(m)
power	(m)

Returns:

Beam radius (m)

camera_data_t camera_calibration	(	const ml_matrix &	pD,
		const ml_matrix &	pW
	)

Parameters:

d	Measured coordinates (m)
pW	World points (m)

Returns:

Camera parameters

References camera_data_s::alpha, camera_data_s::f, camera_data_s::k1, camera_data_s::k2, camera_data_s::o, camera_data_s::R, camera_data_s::s, and camera_data_s::T.

ml_matrix calibration_cube	(	double	w,
		double	r,
		int	n
	)

Camera cube.

Parameters:

w	Width of square (m)
r	Cube width (m)
n	Number of squares

Returns:

Points of square corners

ml_matrix camera_calibration_model	(	camera_data_t	d,
		const ml_matrix &	pW,
		double	f
	)

Camera model.

Parameters:

d	Camera data structure
pW	World points (m)

Returns:

Points in pixel frame

References camera_data_s::o, camera_data_s::R, camera_data_s::s, and camera_data_s::T.