GetCameraDataFromCylinderSetup

• Twoc = Camera translation vector respect world axis (camera positions) [X Y Z]. Row vectors, one row per cams. Camera one is top-left, second top left+1, etc… (rear view) ]
• P = Camera projection matrix [mat 4x3xnCams]
• Kin = Calibration intrinsics matrix [mat 3x3xnCams]
• Kext = Calibration extrinsics matrix [mat 4x4xnCams]
• Rw2oc = Camera rotation  matrix [mat 3x3xnCams] ]
• I = Information matrix [mat nCamsx12]  (See: GetIFromCameraData)

In parameters:

• vPi = Point of interest. It’s the central point that all cameras surround. Vector [X Y Z]
• dr = Distance from Pi to cameras. Radius of the sphere
• nN = Number of cameras per row
• nM = Numbers of cameras per col
• dThetaL = Angle of cameras (left X-Y axis)
• dThetaR = Angle of cameras (right X-Y axis)
• dPhiT = Angle of cameras (top X-Z)
• dPhiD = Angle of cameras (down X-Z)
• vUp = vector [X Y Z]. Indicates the up side of the camera. Example +Z = [0 0 1]
• dCamXFOV = X Field of view of the camera  [degree]
• dDAR = Display aspect ratio (Most common: 4/3, 16/9)
• nCamPixelsX = CCD pixels per row
• nCamPixelsY = CCD pixels per col
• Optional dSkewAngle = Angle between CCD rows and cols [degree] (defaut = 90º)
• Optional nCamOriginZFw = Indicates where the original camera is pointing. Allowed values: 1 = +Z, -1 = -Z (default = -1)
• Optional nImInv = Indicades if the camera gives the inverted image. Allowed values: 0 = Non inverted, 1 = Inverted (default = 0)
• Optional dZnear = Znear of the cameras. Only used to generate collada file (default = 0.1)
• Optional dZfar = Zfar of the cameras. Only used to generate collada file (default = 100)