DriveWorks SDK Reference
5.14.77 Release
For Test and Development only

Rectifier.h
Go to the documentation of this file.
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46#ifndef DW_IMAGEPROCESSING_GEOMETRY_RECTIFIER_H_
47#define DW_IMAGEPROCESSING_GEOMETRY_RECTIFIER_H_
48
50#include <dw/core/base/Types.h>
51#include <dw/image/Image.h>
53
54#ifdef __cplusplus
55extern "C" {
56#endif
57
63typedef struct dwRectifierObject* dwRectifierHandle_t;
64
82 dwCameraModelHandle_t cameraIn,
83 dwCameraModelHandle_t cameraOut,
85
97
111
138
153
171dwStatus dwRectifier_warp(dwImageCUDA* outputImage, const dwImageCUDA* inputImage,
172 bool setOutsidePixelsToBlack, dwRectifierHandle_t obj);
173
174#ifdef VIBRANTE
192#endif
210dwStatus dwRectifier_warpROI(dwImageCUDA* outputImage, const dwImageCUDA* inputImage,
211 bool setOutsidePixelsToBlack, const dwRect roi, dwRectifierHandle_t obj);
212
226
241
255dwStatus dwRectifier_warpPointsCPU(dwVector2f* outputPoints, const dwVector2f* inputPoints,
256 uint32_t pointCount, dwRectifierHandle_t obj);
257
271 uint32_t pointCount, dwRectifierHandle_t obj);
272
287dwStatus dwRectifier_warpPointsGPU(dwVector2f* outputPoints, const dwVector2f* inputPoints,
288 uint32_t pointCount, dwRectifierHandle_t obj);
289
304 uint32_t pointCount, dwRectifierHandle_t obj);
305
318
331
344
357
358#ifdef __cplusplus
359}
360#endif
362#endif // DW_RECTIFIER_H_
NVIDIA DriveWorks API: Camera Methods
NVIDIA DriveWorks API: Core Methods
dwStatus
Status definition.
Definition: ErrorDefs.h:45
Defines a 3x3 matrix of floating point numbers by using only one array.
Definition: MatrixTypes.h:139
NVIDIA DriveWorks API: Core Types
struct dwCameraModelObject * dwCameraModelHandle_t
A pointer to the handle representing a calibrated camera model.
Definition: CameraModel.h:67
float float32_t
Specifies POD types.
Definition: BasicTypes.h:59
struct dwContextObject * dwContextHandle_t
Context handle.
Definition: Context.h:86
#define DW_API_PUBLIC
Definition: Exports.h:54
Defines a CUDA image.
Definition: Image.h:516
Defines an NvMedia image.
Definition: Image.h:532
Specifies a pool of images.
Definition: Image.h:118
Defines the properties of the image.
Definition: Image.h:485
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.
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 eng...
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 computatio...
DW_API_PUBLIC dwStatus dwRectifier_warpPointsGPU(dwVector2f *outputPoints, const dwVector2f *inputPoints, uint32_t pointCount, dwRectifierHandle_t obj)
Warps an array of dwVector2f on GPU.
DW_API_PUBLIC dwStatus dwRectifier_getDistortionMap(dwImageCUDA *distortionMap, dwRectifierHandle_t obj)
Gets the distortion map as a 2-channel single plane image.
DW_API_PUBLIC dwStatus dwRectifier_release(dwRectifierHandle_t obj)
Releases the rectifier module.
DW_API_PUBLIC dwStatus dwRectifier_getHomography(dwMatrix3f *homography, dwRectifierHandle_t obj)
Gets the homography matrix used.
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.
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 d...
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.
DW_API_PUBLIC dwStatus dwRectifier_setCUDAStream(cudaStream_t stream, dwRectifierHandle_t obj)
Sets the CUDA stream used.
DW_API_PUBLIC dwStatus dwRectifier_getCUDAStream(cudaStream_t *stream, dwRectifierHandle_t obj)
Gets the CUDA stream used.
DW_API_PUBLIC dwStatus dwRectifier_registerImages(dwImagePool imagePool, dwRectifierHandle_t handle)
All (both input and output) images that the rectifier engine has to work with (NvMedia2D VIC mode onl...
struct dwRectifierObject * dwRectifierHandle_t
A pointer to the handle representing a rectifier.
Definition: Rectifier.h:63
DW_API_PUBLIC dwStatus dwRectifier_setHomography(const dwMatrix3f *homography, dwRectifierHandle_t obj)
Sets the homography matrix used.
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.
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.
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.
DW_API_PUBLIC dwStatus dwRectifier_reset(dwRectifierHandle_t obj)
Resets the rectifier module.
NVIDIA DriveWorks API: Image Conversion and Streaming Functionality
Defines a rectangle.
Defines a two-element single-precision floating-point vector.
Definition: MatrixTypes.h:49