CameraModel.h

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/*
 * SPDX-FileCopyrightText: Copyright (c) 2015-2025 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_CALIBRATION_CAMERAMODEL_CAMERAMODEL_H_
#define DW_CALIBRATION_CAMERAMODEL_CAMERAMODEL_H_
 
#include <dw/core/base/Config.h>
#include <dw/core/context/Context.h>
#include <dw/core/base/Exports.h>
#include <dw/core/base/Types.h>
#include <dw/rig/Rig.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
// Calibrated cameras
 
typedef struct dwCameraModelObject* dwCameraModelHandle_t;
 
typedef struct dwCameraModelObject const* dwConstCameraModelHandle_t;
 
DW_API_PUBLIC
dwStatus dwCameraModel_initializePinhole(dwCameraModelHandle_t* obj,
                                         const dwPinholeCameraConfig* config,
                                         dwContextHandle_t context);
 
DW_API_PUBLIC
dwStatus dwCameraModel_initializeFTheta(dwCameraModelHandle_t* obj,
                                        const dwFThetaCameraConfig* config,
                                        dwContextHandle_t context);
 
DW_API_PUBLIC
DW_DEPRECATED("dwCameraModel_initializeFThetaNew is renamed to dwCameraModel_initializeFTheta.")
dwStatus dwCameraModel_initializeFThetaNew(dwCameraModelHandle_t* obj,
                                           const dwFThetaCameraConfig* config,
                                           dwContextHandle_t context);
 
DW_API_PUBLIC
dwStatus dwCameraModel_initializeStereographic(dwCameraModelHandle_t* obj,
                                               const dwStereographicCameraConfig* config,
                                               dwContextHandle_t context);
 
DW_API_PUBLIC
dwStatus dwCameraModel_release(dwCameraModelHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwCameraModel_getInversePolynomial(float32_t* invPoly, size_t* size,
                                            dwCameraModelHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwCameraModel_pixel2Ray(float32_t* x, float32_t* y, float32_t* z,
                                 float32_t u, float32_t v,
                                 dwConstCameraModelHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwCameraModel_ray2Pixel(float32_t* u, float32_t* v,
                                 float32_t x, float32_t y, float32_t z,
                                 dwConstCameraModelHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwCameraModel_isRayInsideFOV(bool* isInsideMaxFOV,
                                      float32_t x, float32_t y, float32_t z,
                                      dwConstCameraModelHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwCameraModel_getHorizontalFOV(float32_t* hfov,
                                        dwConstCameraModelHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwCameraModel_getImageSize(uint32_t* width, uint32_t* height,
                                    dwConstCameraModelHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwCameraModel_applyImageTransform(const dwMatrix3f* transform,
                                           dwVector2ui newSize,
                                           dwCameraModelHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwCameraModel_initialize(dwCameraModelHandle_t* camera,
                                  uint32_t sensorId,
                                  dwConstRigHandle_t obj);
 
#ifdef __cplusplus
}
#endif
 
#endif // DW_CALIBRATION_CAMERAMODEL_CAMERAMODEL_H_