Rectifier.h

Go to the documentation of this file.

 
//
// Notice
// ALL NVIDIA DESIGN SPECIFICATIONS AND CODE ("MATERIALS") ARE PROVIDED "AS IS" NVIDIA MAKES
// NO REPRESENTATIONS, WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ANY IMPLIED WARRANTIES OF NONINFRINGEMENT,
// MERCHANTABILITY, OR FITNESS FOR A PARTICULAR PURPOSE.
//
// NVIDIA CORPORATION & AFFILIATES assumes no responsibility for the consequences of use of such
// information or for any infringement of patents or other rights of third parties that may
// result from its use. No license is granted by implication or otherwise under any patent
// or patent rights of NVIDIA CORPORATION & AFFILIATES. No third party distribution is allowed unless
// expressly authorized by NVIDIA. Details are subject to change without notice.
// This code supersedes and replaces all information previously supplied.
// NVIDIA CORPORATION & AFFILIATES products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA CORPORATION & AFFILIATES.
//
// SPDX-FileCopyrightText: Copyright (c) 2015-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: LicenseRef-NvidiaProprietary
//
// NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
// property and proprietary rights in and to this material, related
// documentation and any modifications thereto. Any use, reproduction,
// disclosure or distribution of this material and related documentation
// without an express license agreement from NVIDIA CORPORATION or
// its affiliates is strictly prohibited.
//
 
#ifndef DW_IMAGEPROCESSING_GEOMETRY_RECTIFIER_H_
#define DW_IMAGEPROCESSING_GEOMETRY_RECTIFIER_H_
 
#include <dw/core/context/Context.h>
#include <dw/core/base/Types.h>
#include <dw/image/Image.h>
#include <dw/calibration/cameramodel/CameraModel.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct dwRectifierObject* dwRectifierHandle_t;
 
DW_API_PUBLIC
dwStatus dwRectifier_initialize(dwRectifierHandle_t* obj,
                                dwCameraModelHandle_t cameraIn,
                                dwCameraModelHandle_t cameraOut,
                                dwContextHandle_t ctx);
 
DW_API_PUBLIC
dwStatus dwRectifier_reset(dwRectifierHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRectifier_release(dwRectifierHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRectifier_appendAllocationAttributes(dwImageProperties* const imgProps,
                                                dwRectifierHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRectifier_registerImages(dwImagePool imagePool, dwRectifierHandle_t handle);
 
DW_API_PUBLIC
dwStatus dwRectifier_warp(dwImageCUDA* outputImage, const dwImageCUDA* inputImage,
                          bool setOutsidePixelsToBlack, dwRectifierHandle_t obj);
 
#ifdef VIBRANTE
DW_API_PUBLIC
dwStatus dwRectifier_warpNvMedia(dwImageNvMedia* outputImage, const dwImageNvMedia* inputImage, dwRectifierHandle_t obj);
#endif
DW_API_PUBLIC
dwStatus dwRectifier_warpROI(dwImageCUDA* outputImage, const dwImageCUDA* inputImage,
                             bool setOutsidePixelsToBlack, const dwRect roi, dwRectifierHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRectifier_setHomography(const dwMatrix3f* homography, dwRectifierHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRectifier_setHomographyFromRotation(float32_t roll, float32_t pitch, float32_t yaw, dwRectifierHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRectifier_warpPointsCPU(dwVector2f* outputPoints, const dwVector2f* inputPoints,
                                   uint32_t pointCount, dwRectifierHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRectifier_warpPointsInPlaceCPU(dwVector2f* points,
                                          uint32_t pointCount, dwRectifierHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRectifier_warpPointsGPU(dwVector2f* outputPoints, const dwVector2f* inputPoints,
                                   uint32_t pointCount, dwRectifierHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRectifier_warpPointsInPlaceGPU(dwVector2f* points,
                                          uint32_t pointCount, dwRectifierHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRectifier_getHomography(dwMatrix3f* homography, dwRectifierHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRectifier_setCUDAStream(cudaStream_t stream, dwRectifierHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRectifier_getCUDAStream(cudaStream_t* stream, dwRectifierHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRectifier_getDistortionMap(dwImageCUDA* distortionMap, dwRectifierHandle_t obj);
 
#ifdef __cplusplus
}
#endif
#endif // DW_RECTIFIER_H_