Detailed Description

Defines the Rectifier module.

Typedefs
typedef struct dwRectifierObject *	dwRectifierHandle_t
	A pointer to the handle representing a rectifier. More...

Functions
DW_API_PUBLIC dwStatus	dwRectifier_appendAllocationAttributes (dwImageProperties *const imgProps, dwRectifierHandle_t obj)
	Append the allocation attribute such that the images created of type DW_IMAGE_NVMEDIA can be fed to dwRectifier_warpNvMedia() More...

DW_API_PUBLIC dwStatus	dwRectifier_getCUDAStream (cudaStream_t *stream, dwRectifierHandle_t obj)
	Gets the CUDA stream used. More...

DW_API_PUBLIC dwStatus	dwRectifier_getDistortionMap (dwImageCUDA *distortionMap, dwRectifierHandle_t obj)
	Gets the distortion map as a 2-channel single plane image. More...

DW_API_PUBLIC dwStatus	dwRectifier_getHomography (dwMatrix3f *homography, dwRectifierHandle_t obj)
	Gets the homography matrix used. More...

DW_API_PUBLIC dwStatus	dwRectifier_initialize (dwRectifierHandle_t *obj, dwCameraModelHandle_t cameraIn, dwCameraModelHandle_t cameraOut, dwContextHandle_t ctx)
	Initializes a rectifier based on an input and output camera model and a homography. More...

DW_API_PUBLIC dwStatus	dwRectifier_release (dwRectifierHandle_t obj)
	Releases the rectifier module. More...

DW_API_PUBLIC dwStatus	dwRectifier_reset (dwRectifierHandle_t obj)
	Resets the rectifier module. More...

DW_API_PUBLIC dwStatus	dwRectifier_setCUDAStream (cudaStream_t stream, dwRectifierHandle_t obj)
	Sets the CUDA stream used. More...

DW_API_PUBLIC dwStatus	dwRectifier_setHomography (const dwMatrix3f *homography, dwRectifierHandle_t obj)
	Sets the homography matrix used. More...

DW_API_PUBLIC dwStatus	dwRectifier_setHomographyFromRotation (float32_t roll, float32_t pitch, float32_t yaw, dwRectifierHandle_t obj)
	Calculates and sets the homography matrix used based on a value for roll, pitch and yaw. More...

DW_API_PUBLIC dwStatus	dwRectifier_warp (dwImageCUDA outputImage, const dwImageCUDA inputImage, bool setOutsidePixelsToBlack, dwRectifierHandle_t obj)
	Warps the image from the input camera model to the model of the output camera using CUDA on the GPU. More...

DW_API_PUBLIC dwStatus	dwRectifier_warpNvMedia (dwImageNvMedia outputImage, const dwImageNvMedia inputImage, dwRectifierHandle_t obj)
	Warps the image from the input camera model to the model of the output camera using the Tegra VIC engine. More...

DW_API_PUBLIC dwStatus	dwRectifier_warpPointsCPU (dwVector2f outputPoints, const dwVector2f inputPoints, uint32_t pointCount, dwRectifierHandle_t obj)
	Warps an array of CPU dwVector2f on a preallocated output CPU buffer. More...

DW_API_PUBLIC dwStatus	dwRectifier_warpPointsGPU (dwVector2f outputPoints, const dwVector2f inputPoints, uint32_t pointCount, dwRectifierHandle_t obj)
	Warps an array of dwVector2f on GPU. More...

DW_API_PUBLIC dwStatus	dwRectifier_warpPointsInPlaceCPU (dwVector2f *points, uint32_t pointCount, dwRectifierHandle_t obj)
	Warps an array of CPU dwVector2f and writes on the same buffer. More...

DW_API_PUBLIC dwStatus	dwRectifier_warpPointsInPlaceGPU (dwVector2f *points, uint32_t pointCount, dwRectifierHandle_t obj)
	Warps an array of dwVector2f on the GPU and writes on the same buffer. More...

DW_API_PUBLIC dwStatus	dwRectifier_warpROI (dwImageCUDA outputImage, const dwImageCUDA inputImage, bool setOutsidePixelsToBlack, const dwRect roi, dwRectifierHandle_t obj)
	Warps the image from the input camera model to the model of the output camera limiting the computation to a ROI. More...

Typedef Documentation

◆ dwRectifierHandle_t

typedef struct dwRectifierObject* dwRectifierHandle_t

A pointer to the handle representing a rectifier.

This object allows you to rectify an image acquired in one camera model by projecting it into another camera model.

Definition at line 63 of file Rectifier.h.

Function Documentation

◆ dwRectifier_appendAllocationAttributes()

DW_API_PUBLIC dwStatus dwRectifier_appendAllocationAttributes	(	dwImageProperties *const	imgProps,
		dwRectifierHandle_t	obj
	)

Append the allocation attribute such that the images created of type DW_IMAGE_NVMEDIA can be fed to dwRectifier_warpNvMedia()

Parameters

[in,out]	imgProps	Image properties
[in]	obj	dwRectifier handle

Note: The imgProps are read and used to generate the allocation attributes needed by the driver. The allocation attributes are stored back into imgProps.meta.allocAttrs. Applications do not need to free or alter the imgProps.meta.allocAttrs in any way. The imgProps.meta.allocAttrs are only used by DriveWorks as needed when the given imgProps are used to allocate dwImages. If the application alters the imgProps after calling this API, the imgProps.meta.allocAttrs may no longer be applicable to the imgProps and calls related to allocating images will fail.; if imgProps.meta.allocAttrs does not have allocated Memory, this would be allocated by DW and will be owned by DW context until context is destroyed and should be used wisely as it the space is limited.

Returns: DW_NVMEDIA_ERROR - if underlying camera driver had an NvMedia error.
DW_INVALID_HANDLE - if given handle is not valid.
DW_SUCCESS

◆ dwRectifier_getCUDAStream()

DW_API_PUBLIC dwStatus dwRectifier_getCUDAStream	(	cudaStream_t *	stream,
		dwRectifierHandle_t	obj
	)

Gets the CUDA stream used.

Parameters

[in]	stream	Uses this CUDA stream.
[in]	obj	A pointer to the rectifier handle that is updated. Initialization must not have changed.

Return values

DW_INVALID_HANDLE	if the rectifier handle is invalid or NULL
DW_SUCCESS	on success

◆ dwRectifier_getDistortionMap()

DW_API_PUBLIC dwStatus dwRectifier_getDistortionMap	(	dwImageCUDA *	distortionMap,
		dwRectifierHandle_t	obj
	)

Gets the distortion map as a 2-channel single plane image.

Parameters

[out]	distortionMap	The distortion map.
[in]	obj	A pointer to the rectifier handle that is updated. Initialization must not have changed.

Return values

DW_INVALID_HANDLE	if the rectifier handle is invalid or NULL
DW_SUCCESS	on success

◆ dwRectifier_getHomography()

DW_API_PUBLIC dwStatus dwRectifier_getHomography	(	dwMatrix3f *	homography,
		dwRectifierHandle_t	obj
	)

Gets the homography matrix used.

Parameters

[out]	homography	The homography transformation matrix.
[in]	obj	A pointer to the rectifier handle. Initialization must not have changed.

Return values

DW_INVALID_HANDLE	if the rectifier handle is invalid or NULL
DW_SUCCESS	on success

◆ dwRectifier_initialize()

DW_API_PUBLIC dwStatus dwRectifier_initialize	(	dwRectifierHandle_t *	obj,
		dwCameraModelHandle_t	cameraIn,
		dwCameraModelHandle_t	cameraOut,
		dwContextHandle_t	ctx
	)

Initializes a rectifier based on an input and output camera model and a homography.

In particular, the rectifier implements Ray2Pixel_cameraOut( H * Pixel2Ray_cameraIn(Image) ). Per default, the homography is set to identity. This also implicitly sets up the VIC engine for rectificaton of dwImageNvMedia (see dwRectifier_warpNvMedia, note the image must have the same resolution of the set camera and it must not be lower that 128x128)

Parameters

[out]	obj	A pointer to the rectifier handle for the created module.
[in]	cameraIn	Model of the input camera.
[in]	cameraOut	Model of the output camera.
[in]	ctx	Specifies the handler to the context to create the rectifier.

Return values

DW_INVALID_ARGUMENT	if the rectifier handle is NULL
DW_INVALID_HANDLE	if the cameraIn model or cameraOut model or context handle is NULL or invalid
DW_SUCCESS	on success

◆ dwRectifier_release()

DW_API_PUBLIC dwStatus dwRectifier_release ( dwRectifierHandle_t obj )

Releases the rectifier module.

Parameters

[in] obj The object handle to release.

Return values

DW_INVALID_HANDLE	if the given handle is invalid,i.e. null or of wrong type
DW_BAD_CAST	if obj is not a rectifier handle
DW_SUCCESS	on success

Note: This method renders the handle unusable.

◆ dwRectifier_reset()

DW_API_PUBLIC dwStatus dwRectifier_reset ( dwRectifierHandle_t obj )

Resets the rectifier module.

Parameters

[in] obj Specifies the rectifier to reset.

Return values

DW_INVALID_HANDLE	if the given handle is invalid,i.e. null or of wrong type
DW_BAD_CAST	if obj is not a rectifier handle
DW_SUCCESS	on success

◆ dwRectifier_setCUDAStream()

DW_API_PUBLIC dwStatus dwRectifier_setCUDAStream	(	cudaStream_t	stream,
		dwRectifierHandle_t	obj
	)

Sets the CUDA stream used.

Parameters

[in]	stream	The CUDA stream to use.
[in]	obj	A pointer to the rectifier handle that is updated. Initialization must not have changed.

Return values

DW_INVALID_HANDLE	if the rectifier handle is invalid or NULL
DW_SUCCESS	on success

◆ dwRectifier_setHomography()

DW_API_PUBLIC dwStatus dwRectifier_setHomography	(	const dwMatrix3f *	homography,
		dwRectifierHandle_t	obj
	)

Sets the homography matrix used.

Parameters

[in]	homography	The new homography transformation matrix.
[in]	obj	A pointer to the rectifier handle that is updated. Initialization must not have changed.

Return values

DW_INVALID_ARGUMENT	if the matrix is NULL
DW_INVALID_HANDLE	if the rectifier handle is invalid or NULL
DW_SUCCESS	on success

◆ dwRectifier_setHomographyFromRotation()

DW_API_PUBLIC dwStatus dwRectifier_setHomographyFromRotation	(	float32_t	roll,
		float32_t	pitch,
		float32_t	yaw,
		dwRectifierHandle_t	obj
	)

Calculates and sets the homography matrix used based on a value for roll, pitch and yaw.

This rotation will be applied during backprojection, so from output to input

Parameters

[in]	roll	The camera roll in degrees.
[in]	pitch	The camera pitch in degrees.
[in]	yaw	The camera yaw in degrees.
[in]	obj	A pointer to the rectifier handle that is updated. Initialization must not have changed.

Return values

DW_INVALID_HANDLE	if the rectifier handle is invalid or NULL
DW_SUCCESS	on success

◆ dwRectifier_warp()

DW_API_PUBLIC dwStatus dwRectifier_warp	(	dwImageCUDA *	outputImage,
		const dwImageCUDA *	inputImage,
		bool	setOutsidePixelsToBlack,
		dwRectifierHandle_t	obj
	)

Warps the image from the input camera model to the model of the output camera using CUDA on the GPU.

The coordinates are calculated on the spot, unless distortion map has been enabled, in which case they will be read. NOTE: the coordinates of input/output images are implicitly adapted to match the input/output camera if the sizes of the images don't match the cameras. This will result in stretching of the image and possible loss of aspect ratio.

Parameters

[out]	outputImage	Pointer to the output image.
[in]	inputImage	Pointer to the input image.
[in]	setOutsidePixelsToBlack	if true, the pixels outside the original image are set to black on the undistorted image, otherwise interpolated
[in]	obj	A pointer to the rectifier handle that performs the warping.

Return values

DW_INVALID_ARGUMENT	if the input image or output image pointer is NULL
DW_INVALID_HANDLE	if the rectifier handle is invalid or NULL
DW_CUDA_ERROR	if underlying CUDA call fails
DW_SUCCESS	on success

◆ dwRectifier_warpNvMedia()

DW_API_PUBLIC dwStatus dwRectifier_warpNvMedia	(	dwImageNvMedia *	outputImage,
		const dwImageNvMedia *	inputImage,
		dwRectifierHandle_t	obj
	)

Warps the image from the input camera model to the model of the output camera using the Tegra VIC engine.

External pixels are automatically filled by replicating valid pixels NOTE: the coordinates of input/output images are implicitly adapted to match the input/output camera if the sizes of the images don't match the cameras. This will result in stretching of the image and possible loss of aspect ratio.

Parameters

[out]	outputImage	Pointer to the output image.
[in]	inputImage	Pointer to the input image.
[in]	obj	A pointer to the rectifier handle that performs the warping.

Return values

DW_INVALID_ARGUMENT	if the input image or output image pointer is NULL
DW_INVALID_HANDLE	if the rectifier handle is invalid or NULL
DW_NVMEDIA_ERROR	if underlying NvMedia call fails
DW_SUCCESS	on success

◆ dwRectifier_warpPointsCPU()

DW_API_PUBLIC dwStatus dwRectifier_warpPointsCPU	(	dwVector2f *	outputPoints,
		const dwVector2f *	inputPoints,
		uint32_t	pointCount,
		dwRectifierHandle_t	obj
	)

Warps an array of CPU dwVector2f on a preallocated output CPU buffer.

Parameters

[out]	outputPoints	Array of output points.
[in]	inputPoints	Array of input points
[in]	pointCount	number of points
[in]	obj	A pointer to the rectifier handle that performs the warping.

Return values

DW_INVALID_ARGUMENT	if the input vector or output vector pointer is NULL
DW_INVALID_HANDLE	if the rectifier handle is invalid or NULL
DW_SUCCESS	on success

◆ dwRectifier_warpPointsGPU()

DW_API_PUBLIC dwStatus dwRectifier_warpPointsGPU	(	dwVector2f *	outputPoints,
		const dwVector2f *	inputPoints,
		uint32_t	pointCount,
		dwRectifierHandle_t	obj
	)

Warps an array of dwVector2f on GPU.

Parameters

[out]	outputPoints	Array of output points.
[in]	inputPoints	Array of input points
[in]	pointCount	number of points
[in]	obj	A pointer to the rectifier handle that performs the warping.

Return values

DW_INVALID_ARGUMENT	if the input vector or output vector pointer is NULL
DW_INVALID_HANDLE	if the rectifier handle is invalid or NULL
DW_CUDA_ERROR	if underlying CUDA call fails
DW_SUCCESS	on success

◆ dwRectifier_warpPointsInPlaceCPU()

DW_API_PUBLIC dwStatus dwRectifier_warpPointsInPlaceCPU	(	dwVector2f *	points,
		uint32_t	pointCount,
		dwRectifierHandle_t	obj
	)

Warps an array of CPU dwVector2f and writes on the same buffer.

Parameters

[in]	points	Array of points to warp in place
[in]	pointCount	number of points
[in]	obj	A pointer to the rectifier handle that performs the warping.

Return values

DW_INVALID_ARGUMENT	if the vector pointer is NULL
DW_INVALID_HANDLE	if the rectifier handle is invalid or NULL
DW_SUCCESS	on success

◆ dwRectifier_warpPointsInPlaceGPU()

DW_API_PUBLIC dwStatus dwRectifier_warpPointsInPlaceGPU	(	dwVector2f *	points,
		uint32_t	pointCount,
		dwRectifierHandle_t	obj
	)

Warps an array of dwVector2f on the GPU and writes on the same buffer.

Parameters

[in]	points	Array of points to warp in place
[in]	pointCount	number of points
[in]	obj	A pointer to the rectifier handle that performs the warping.

Return values

DW_INVALID_ARGUMENT	if the input vector or output image vector is NULL
DW_INVALID_HANDLE	if the rectifier handle is invalid or NULL
DW_CUDA_ERROR	if underlying CUDA call fails
DW_SUCCESS	on success

◆ dwRectifier_warpROI()

DW_API_PUBLIC dwStatus dwRectifier_warpROI	(	dwImageCUDA *	outputImage,
		const dwImageCUDA *	inputImage,
		bool	setOutsidePixelsToBlack,
		const dwRect	roi,
		dwRectifierHandle_t	obj
	)

Warps the image from the input camera model to the model of the output camera limiting the computation to a ROI.

The ROI is defined in output camera coordinates and the resulting image will be translated to the origin of the output image. No further transformation will be performed.

Parameters

[out]	outputImage	Pointer to the output image.
[in]	inputImage	Pointer to the input image. NOTE: the coordinates of this image are implicitly adapted to the input camera
[in]	setOutsidePixelsToBlack	if true, the pixels outside the original image are set to black on the undistorted image, otherwise interpolated
[in]	roi	A region of interest of the output rectified area
[in]	obj	A pointer to the rectifier handle that performs the warping.

Return values

DW_INVALID_ARGUMENT	if the input image or output image pointer is NULL, or if roi is invalid
DW_INVALID_HANDLE	if the rectifier handle is invalid or NULL
DW_CUDA_ERROR	if underlying CUDA call fails
DW_SUCCESS	on success

Detailed Description

Typedefs

Functions

Typedef Documentation

◆ dwRectifierHandle_t

Function Documentation

◆ dwRectifier_appendAllocationAttributes()

◆ dwRectifier_getCUDAStream()

◆ dwRectifier_getDistortionMap()

◆ dwRectifier_getHomography()

◆ dwRectifier_initialize()

◆ dwRectifier_release()

◆ dwRectifier_reset()

◆ dwRectifier_setCUDAStream()

◆ dwRectifier_setHomography()

◆ dwRectifier_setHomographyFromRotation()

◆ dwRectifier_warp()

◆ dwRectifier_warpNvMedia()

◆ dwRectifier_warpPointsCPU()

◆ dwRectifier_warpPointsGPU()

◆ dwRectifier_warpPointsInPlaceCPU()

◆ dwRectifier_warpPointsInPlaceGPU()

◆ dwRectifier_warpROI()