Ray-to-Pixel and Pixel-to-Ray

The following code snippet shows the general structure of a program that uses a rig to initialize a calibrated camera model and perform projection / unprojection using that model.

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);
    }
}

For the full implementation refer to Rig Configuration Sample.