Stereo.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_STEREO_STEREO_H_
#define DW_IMAGEPROCESSING_STEREO_STEREO_H_
 
#include <dw/image/Image.h>
#include <dw/rig/Rig.h>
#include <dw/imageprocessing/geometry/rectifier/Rectifier.h>
#include <dw/imageprocessing/pyramid/Pyramid.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
// dwStereo
 
typedef struct dwStereoObject* dwStereoHandle_t;
 
#define DW_STEREO_SIDE_COUNT 2
#define MAX_ALLOWED_DISPARITY_RANGE 1024
 
typedef enum {
    DW_STEREO_SIDE_LEFT = 0,
    DW_STEREO_SIDE_RIGHT,
    DW_STEREO_SIDE_BOTH
} dwStereoSide;
 
typedef enum {
    DW_STEREO_COST_AD,
    DW_STEREO_COST_NCC,
    DW_STEREO_COST_SAD,
    DW_STEREO_COST_CENSUS,
    DW_STEREO_COST_ADCENSUS,
} dwStereoCostType;
 
typedef struct
{
    uint32_t width;
 
    uint32_t height;
 
    uint32_t maxDisparityRange;
 
    uint32_t levelCount;
 
    uint32_t levelStop;
 
    dwStereoSide side;
 
    bool occlusionTest;
 
    uint32_t occlusionThreshold;
 
    bool occlusionFilling;
 
    float32_t invalidityThreshold;
 
    bool holesFilling;
 
    uint8_t refinementLevel;
 
    dwStereoCostType initType;
 
} dwStereoParams;
 
DW_API_PUBLIC
dwStatus dwStereo_initParams(dwStereoParams* stereoParams);
 
DW_API_PUBLIC
dwStatus dwStereo_initialize(dwStereoHandle_t* obj, uint32_t width, uint32_t height,
                             const dwStereoParams* stereoParams, dwContextHandle_t ctx);
 
DW_API_PUBLIC
dwStatus dwStereo_computeDisparity(const dwPyramidImage* leftPyramid,
                                   const dwPyramidImage* rightPyramid, dwStereoHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwStereo_getDisparity(const dwImageCUDA** disparityMap, dwStereoSide side, dwStereoHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwStereo_getConfidence(const dwImageCUDA** confidenceMap, dwStereoSide side, dwStereoHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwStereo_setOcclusionTest(bool doTest, dwStereoHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwStereo_setOcclusionInfill(bool doInfill, dwStereoHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwStereo_setInfill(bool doInfill, dwStereoHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwStereo_setInvalidThreshold(float32_t threshold, dwStereoHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwStereo_setRefinementLevel(uint8_t refinementLvl, dwStereoHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwStereo_getSize(uint32_t* dispWidth, uint32_t* dispHeight, uint32_t gLevel,
                          dwStereoHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwStereo_setCUDAStream(cudaStream_t stream, dwStereoHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwStereo_getCUDAStream(cudaStream_t* stream, dwStereoHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwStereo_reset(dwStereoHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwStereo_release(dwStereoHandle_t obj);
 
// dwStereoRectifier
 
typedef struct dwStereoRectifierObject* dwStereoRectifierHandle_t;
 
typedef enum {
    DW_STEREO_RECTIFIER_UNCHANGED,
    DW_STEREO_RECTIFIER_CROP
} dwStereoRectifierCrop;
 
DW_API_PUBLIC
dwStatus dwStereoRectifier_initialize(dwStereoRectifierHandle_t* obj, dwCameraModelHandle_t cameraLeft,
                                      dwCameraModelHandle_t cameraRight, dwTransformation3f leftToRig,
                                      dwTransformation3f rightToRig, dwContextHandle_t ctx);
 
DW_API_PUBLIC
dwStatus dwStereoRectifier_release(dwStereoRectifierHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwStereoRectifier_rectify(dwImageCUDA* outputImageLeft, dwImageCUDA* outputImageRight,
                                   const dwImageCUDA* inputImageLeft, const dwImageCUDA* inputImageRight,
                                   dwStereoRectifierHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwStereoRectifier_getCropROI(dwBox2D* roi, dwStereoRectifierHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwStereoRectifier_getProjectionMatrix(dwMatrix34f* projectionMat, dwStereoSide side,
                                               dwStereoRectifierHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwStereoRectifier_getRectificationMatrix(dwMatrix3f* rRectMat, dwStereoSide side,
                                                  dwStereoRectifierHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwStereoRectifier_getReprojectionMatrix(dwMatrix4f* qMatrix, dwStereoRectifierHandle_t obj);
 
#ifdef __cplusplus
}
#endif
 
#endif // DW_STEREO_STEREO_H_