Rectifier.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_IMAGEPROCESSING_GEOMETRY_RECTIFIER_H_
#define DW_IMAGEPROCESSING_GEOMETRY_RECTIFIER_H_
 
#include <dw/core/context/Context.h>
#include <dw/core/base/Types.h>
#include <dw/image/Image.h>
#include <dw/calibration/cameramodel/CameraModel.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct dwRectifierObject* dwRectifierHandle_t;
 
DW_API_PUBLIC
dwStatus dwRectifier_initialize(dwRectifierHandle_t* obj,
                                dwCameraModelHandle_t cameraIn,
                                dwCameraModelHandle_t cameraOut,
                                dwContextHandle_t ctx);
 
DW_API_PUBLIC
dwStatus dwRectifier_reset(dwRectifierHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRectifier_release(dwRectifierHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRectifier_appendAllocationAttributes(dwImageProperties* const imgProps,
                                                dwRectifierHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRectifier_registerImages(dwImagePool imagePool, dwRectifierHandle_t handle);
 
DW_API_PUBLIC
dwStatus dwRectifier_apply(dwImageHandle_t outputImage, const dwConstImageHandle_t inputImage,
                           dwRect* roi, dwRectifierHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRectifier_setHomography(const dwMatrix3f* homography, dwRectifierHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRectifier_setHomographyFromRotation(float32_t roll, float32_t pitch, float32_t yaw, dwRectifierHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRectifier_warpPointsCPU(dwVector2f* outputPoints, const dwVector2f* inputPoints,
                                   uint32_t pointCount, dwRectifierHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRectifier_warpPointsGPU(dwVector2f* outputPoints, const dwVector2f* inputPoints,
                                   uint32_t pointCount, dwRectifierHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRectifier_getHomography(dwMatrix3f* homography, dwRectifierHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRectifier_setCUDAStream(cudaStream_t stream, dwRectifierHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRectifier_getCUDAStream(cudaStream_t* stream, dwRectifierHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRectifier_getDistortionMap(dwImageCUDA* distortionMap, dwRectifierHandle_t obj);
 
#ifdef __cplusplus
}
#endif
 
#endif // DW_RECTIFIER_H_