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  • NVIDIA DRIVE OS Linux SDK API Reference

    6.0.9 Release
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    nvmedia_ldc_util.h
    Go to the documentation of this file.
    1 /*
    2  * Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved.
    3  *
    4  * NVIDIA CORPORATION and its licensors retain all intellectual property
    5  * and proprietary rights in and to this software, related documentation
    6  * and any modifications thereto. Any use, reproduction, disclosure or
    7  * distribution of this software and related documentation without an express
    8  * license agreement from NVIDIA CORPORATION is strictly prohibited.
    9  */
    10 
    14 
    15 #ifndef NVMEDIA_LDC_UTIL_H
    16 #define NVMEDIA_LDC_UTIL_H
    17 
    18 #include "nvmedia_core.h"
    19 #include "nvmedia_ldc.h"
    20 
    21 #ifdef __cplusplus
    22 extern "C" {
    23 #endif
    24 
    29 typedef enum
    30 {
    33 
    38 
    43 
    48 
    54 
    62 typedef struct
    63 {
    75  float matrixCoeffs[2][3];
    77 
    85 typedef struct
    86 {
    88  float R[3][3];
    90  float T[3];
    92 
    127 typedef struct
    128 {
    131 
    133  float k1;
    135  float k2;
    137  float k3;
    139  float k4;
    141  float k5;
    143  float k6;
    145  float p1;
    147  float p2;
    149 
    186  uint32_t *numControlPoints);
    187 
    232 NvMediaLdcGenWarpMapIdentity(NvMediaRect const *const dstRect,
    233  NvMediaLdcRegionParameters const *const regionParams,
    234  uint32_t numControlPoints,
    235  NvMediaLdcControlPoint *const controlPoints);
    236 
    285  NvMediaLdcCameraIntrinsic const *const Kin,
    286  NvMediaLdcCameraExtrinsic const *const X,
    287  NvMediaLdcCameraIntrinsic const *const Kout,
    288  NvMediaLdcLensDistortion const *const distModel,
    289  NvMediaRect const *const dstRect,
    290  NvMediaLdcRegionParameters const *const regionParams,
    291  uint32_t numControlPoints,
    292  NvMediaLdcControlPoint *const controlPoints);
    293 
    294 #ifdef __cplusplus
    295 }
    296 #endif
    297 
    298 #endif
    NVMEDIA_LDC_LENS_MODEL_POLYNOMIAL_DISTORTION
    @ NVMEDIA_LDC_LENS_MODEL_POLYNOMIAL_DISTORTION
    Specifies a polynomial distortion model.
    Definition: nvmedia_ldc_util.h:32
    NvMediaLdcGenWarpMapIdentity
    NvMediaStatus NvMediaLdcGenWarpMapIdentity(NvMediaRect const *const dstRect, NvMediaLdcRegionParameters const *const regionParams, uint32_t numControlPoints, NvMediaLdcControlPoint *const controlPoints)
    Helper function to fills the given warp map with an identity mapping.
    NvMediaLdcLensDistortion::p2
    float p2
    Holds the tangential distortion coefficient.
    Definition: nvmedia_ldc_util.h:147
    NvMediaLdcCameraIntrinsic
    Instrinsic camera parameters.
    Definition: nvmedia_ldc_util.h:62
    NvMediaLdcLensModel
    NvMediaLdcLensModel
    Supported lens models used to generate a Warp Map.
    Definition: nvmedia_ldc_util.h:29
    NvMediaLdcLensDistortion
    Distortion coefficients for the lens model.
    Definition: nvmedia_ldc_util.h:127
    NvMediaLdcLensDistortion::k5
    float k5
    Holds the radial distortion coefficient.
    Definition: nvmedia_ldc_util.h:141
    NvMediaStatus
    NvMediaStatus
    Defines all possible error codes.
    Definition: nvmedia_core.h:104
    NvMediaLdcLensDistortion::k2
    float k2
    Holds the radial distortion coefficient.
    Definition: nvmedia_ldc_util.h:135
    NvMediaLdcLensDistortion::k4
    float k4
    Holds the radial distortion coefficient.
    Definition: nvmedia_ldc_util.h:139
    NvMediaLdcLensDistortion::k6
    float k6
    Holds the radial distortion coefficient.
    Definition: nvmedia_ldc_util.h:143
    NVMEDIA_LDC_LENS_MODEL_FISHEYE_ORTHOGRAPHIC
    @ NVMEDIA_LDC_LENS_MODEL_FISHEYE_ORTHOGRAPHIC
    Specifies a fisheye model: r = 2fsin(theta/2), where theta is the angle from the optical axis,...
    Definition: nvmedia_ldc_util.h:47
    NVMEDIA_LDC_LENS_MODEL_FISHEYE_STEREOGRAPHIC
    @ NVMEDIA_LDC_LENS_MODEL_FISHEYE_STEREOGRAPHIC
    Specifies a fisheye model: r = fsin(theta), where theta is the angle from the optical axis,...
    Definition: nvmedia_ldc_util.h:52
    NvMediaLdcGenWarpMap
    NvMediaStatus NvMediaLdcGenWarpMap(NvMediaLdcCameraIntrinsic const *const Kin, NvMediaLdcCameraExtrinsic const *const X, NvMediaLdcCameraIntrinsic const *const Kout, NvMediaLdcLensDistortion const *const distModel, NvMediaRect const *const dstRect, NvMediaLdcRegionParameters const *const regionParams, uint32_t numControlPoints, NvMediaLdcControlPoint *const controlPoints)
    Generates Warp Map for a particular lens model.
    NvMediaRect
    Holds a rectangular region of a surface.
    Definition: nvmedia_core.h:89
    nvmedia_core.h
    NVIDIA Media Interface: Core
    NvMediaLdcRegionParameters
    Holds the NvMedia LDC region configuration.
    Definition: nvmedia_ldc.h:331
    NVMEDIA_LDC_LENS_MODEL_FISHEYE_EQUISOLID
    @ NVMEDIA_LDC_LENS_MODEL_FISHEYE_EQUISOLID
    Specifies a fisheye model: r = f*theta, where theta is the angle from the optical axis,...
    Definition: nvmedia_ldc_util.h:42
    NvMediaLdcLensDistortion::k1
    float k1
    Holds the radial distortion coefficient.
    Definition: nvmedia_ldc_util.h:133
    NVMEDIA_LDC_LENS_MODEL_FISHEYE_EQUIDISTANT
    @ NVMEDIA_LDC_LENS_MODEL_FISHEYE_EQUIDISTANT
    Specifies a fisheye model: r = 2ftan(theta/2), where theta is the angle from the optical axis,...
    Definition: nvmedia_ldc_util.h:37
    NvMediaLdcLensDistortion::model
    NvMediaLdcLensModel model
    Camera model.
    Definition: nvmedia_ldc_util.h:130
    NvMediaLdcCameraExtrinsic
    Extrinsic camera parameters.
    Definition: nvmedia_ldc_util.h:85
    NvMediaLdcGetNumControlPoints
    NvMediaStatus NvMediaLdcGetNumControlPoints(NvMediaLdcRegionParameters const *const regionParams, uint32_t *numControlPoints)
    Helper function to calculate the number of control points from the defined sparse warp map region par...
    NvMediaLdcLensDistortion::p1
    float p1
    Holds the tangential distortion coefficient.
    Definition: nvmedia_ldc_util.h:145
    NvMediaLdcControlPoint
    Represents a control point.
    Definition: nvmedia_ldc.h:374
    NvMediaLdcLensDistortion::k3
    float k3
    Holds the radial distortion coefficient.
    Definition: nvmedia_ldc_util.h:137
    nvmedia_ldc.h
    NVIDIA Media Interface: Lens Distortion Correction and Temporal Noise Reduction
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