public/driveworks-nvsdk/cameramodel_usecase0.html

dwRig_initializeFromFile(...);


dwRig_getSensorCount(&sensorCount, ...);

for(uint32_t sensorID; sensorID < sensorCount; ++sensorID)

{

    dwRig_getSensorType(&sensorType, sensorID, ...);

    if(sensorType == DW_SENSOR_CAMERA)

    {

        dwCameraModel_initialize(&camera, sensorID, ...);


        // use calibrated camera to perform unprojection / projection

        dwCameraModel_pixel2Ray(&x, &y, &z, camera, u, v);

        dwCameraModel_ray2Pixel(&u, &v camera, x, y, z);

    }

}

dwCameraModel_initialize
DW_API_PUBLIC dwStatus dwCameraModel_initialize(dwCameraModelHandle_t *camera, uint32_t sensorId, dwConstRigHandle_t obj)
Creates a calibrated camera model polymorphically for a compatible sensor.

dwCameraModel_ray2Pixel
DW_API_PUBLIC dwStatus dwCameraModel_ray2Pixel(float32_t *u, float32_t *v, float32_t x, float32_t y, float32_t z, dwConstCameraModelHandle_t obj)
Projects a 3D point in camera coordinates to a 2D pixel position.

dwCameraModel_pixel2Ray
DW_API_PUBLIC dwStatus dwCameraModel_pixel2Ray(float32_t *x, float32_t *y, float32_t *z, float32_t u, float32_t v, dwConstCameraModelHandle_t obj)
Back-projects a 2D point in pixel coordinates to a 3D optical ray direction.

dwRig_getSensorType
DW_API_PUBLIC dwStatus dwRig_getSensorType(dwSensorType *const sensorType, uint32_t const sensorId, dwConstRigHandle_t const obj)
Returns the type of sensor based upon the sensorID sent into the method.

dwRig_getSensorCount
DW_API_PUBLIC dwStatus dwRig_getSensorCount(uint32_t *const sensorCount, dwConstRigHandle_t const obj)
Gets the number of all available sensors.

dwRig_initializeFromFile
DW_API_PUBLIC dwStatus dwRig_initializeFromFile(dwRigHandle_t *const obj, dwContextHandle_t const ctx, char8_t const *const configurationFile)
Initializes the Rig Configuration module from a file.

DW_SENSOR_CAMERA
@ DW_SENSOR_CAMERA
Definition: Sensors.h:189