DriveWorks SDK Reference
5.4.5418 Release
For Test and Development only

CameraModel.h
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30 
31 #ifndef DW_CALIBRATION_CAMERAMODEL_CAMERAMODEL_H_
32 #define DW_CALIBRATION_CAMERAMODEL_CAMERAMODEL_H_
33 
34 #include <dw/core/Config.h>
36 #include <dw/core/base/Exports.h>
37 #include <dw/core/base/Types.h>
38 #include <dw/rig/Rig.h>
39 
40 #ifdef __cplusplus
41 extern "C" {
42 #endif
43 
59 // Calibrated cameras
61 
66 typedef struct dwCameraModelObject* dwCameraModelHandle_t;
67 
70 typedef struct dwCameraModelObject const* dwConstCameraModelHandle_t;
71 
84 dwStatus dwCameraModel_initializePinhole(dwCameraModelHandle_t* obj,
85  const dwPinholeCameraConfig* config,
86  dwContextHandle_t context);
87 
104 DW_DEPRECATED("OCam support will be removed from Driveworks in an upcoming release. Use FTheta instead.")
105 dwStatus dwCameraModel_initializeOCam(dwCameraModelHandle_t* obj,
106  const dwOCamCameraConfig* config,
107  dwContextHandle_t context);
108 
122 dwStatus dwCameraModel_initializeFTheta(dwCameraModelHandle_t* obj,
123  const dwFThetaCameraConfig* config,
124  dwContextHandle_t context);
125 
138 dwStatus dwCameraModel_initializeFThetaNew(dwCameraModelHandle_t* obj,
139  const dwFThetaCameraConfigNew* config,
140  dwContextHandle_t context);
141 
154 dwStatus dwCameraModel_initializeStereographic(dwCameraModelHandle_t* obj,
155  const dwStereographicCameraConfig* config,
156  dwContextHandle_t context);
157 
170 dwStatus dwCameraModel_release(dwCameraModelHandle_t obj);
171 
191  dwCameraModelHandle_t obj);
192 
210  float32_t u, float32_t v,
211  dwConstCameraModelHandle_t obj);
212 
229  float32_t x, float32_t y, float32_t z,
230  dwConstCameraModelHandle_t obj);
231 
256 dwStatus dwCameraModel_isRayInsideFOV(bool* isInsideMaxFOV,
257  float32_t x, float32_t y, float32_t z,
258  dwConstCameraModelHandle_t obj);
259 
272  dwConstCameraModelHandle_t obj);
273 
286 dwStatus dwCameraModel_getImageSize(uint32_t* width, uint32_t* height,
287  dwConstCameraModelHandle_t obj);
288 
337  dwVector2ui newSize,
338  dwCameraModelHandle_t obj);
339 
356 dwStatus dwCameraModel_initialize(dwCameraModelHandle_t* camera,
357  uint32_t sensorId,
358  dwConstRigHandle_t obj);
359 
362 #ifdef __cplusplus
363 }
364 #endif
365 
366 #endif // DW_CALIBRATION_CAMERAMODEL_CAMERAMODEL_H_
NVIDIA DriveWorks API: Core Types
DW_API_PUBLIC dwStatus dwCameraModel_getHorizontalFOV(float32_t *hfov, dwConstCameraModelHandle_t obj)
Gets the horizontal Field of View (FOV) of the calibrated camera, in radians.
Configuration parameters for a calibrated FTheta camera.
Definition: Rig.h:301
float float32_t
Specifies POD types.
Definition: Types.h:70
NVIDIA DriveWorks API: Rig Configuration
DW_API_PUBLIC dwStatus dwCameraModel_initializeFTheta(dwCameraModelHandle_t *obj, const dwFThetaCameraConfig *config, dwContextHandle_t context)
Creates and initializes a calibrated camera for the F-Theta distortion model.
DEPRECATED: Configuration parameters for a calibrated FTheta camera.
Definition: Rig.h:162
DW_API_PUBLIC dwStatus dwCameraModel_initializeStereographic(dwCameraModelHandle_t *obj, const dwStereographicCameraConfig *config, dwContextHandle_t context)
Creates and initializes a calibrated stereographic camera.
DW_API_PUBLIC dwStatus dwCameraModel_pixel2Ray(float32_t *x, float32_t *y, float32_t *z, float32_t u, float32_t v, dwConstCameraModelHandle_t obj)
Back-projects a 2D point in pixel coordinates to a 3D optical ray direction.
DW_API_PUBLIC dwStatus dwCameraModel_initializePinhole(dwCameraModelHandle_t *obj, const dwPinholeCameraConfig *config, dwContextHandle_t context)
Creates and initializes a calibrated pinhole camera.
dwStatus
Status definition.
Definition: Status.h:180
DW_API_PUBLIC dwStatus dwCameraModel_isRayInsideFOV(bool *isInsideMaxFOV, float32_t x, float32_t y, float32_t z, dwConstCameraModelHandle_t obj)
Checks if the angle of a ray with the camera&#39;s optical center is below the maximum possible angle of ...
DW_API_PUBLIC dwStatus dwCameraModel_ray2Pixel(float32_t *u, float32_t *v, float32_t x, float32_t y, float32_t z, dwConstCameraModelHandle_t obj)
Projects a 3D point in pixel coordinates to a 2D pixel position.
Configuration parameters for a calibrated OCam sphere camera.
Definition: Rig.h:128
#define DW_DEPRECATED(msg)
Definition: Exports.h:66
DW_API_PUBLIC dwStatus dwCameraModel_getInversePolynomial(float32_t *invPoly, size_t *size, dwCameraModelHandle_t obj)
Returns the inverse polynomial used for the inverse distortion model.
DW_API_PUBLIC dwStatus dwCameraModel_getImageSize(uint32_t *width, uint32_t *height, dwConstCameraModelHandle_t obj)
Gets the width and height of the calibrated camera, in pixels.
DW_API_PUBLIC dwStatus dwCameraModel_release(dwCameraModelHandle_t obj)
Releases the calibrated camera.
struct dwRigObject const * dwConstRigHandle_t
Definition: Rig.h:71
Defines a 3x3 matrix of floating point numbers.
Definition: Types.h:240
struct dwCameraModelObject const * dwConstCameraModelHandle_t
A pointer to the handle representing a const calibrated camera.
Definition: CameraModel.h:70
Defines a two-element unsigned-integer vector.
Definition: Types.h:315
DW_API_PUBLIC dwStatus dwCameraModel_initializeFThetaNew(dwCameraModelHandle_t *obj, const dwFThetaCameraConfigNew *config, dwContextHandle_t context)
Creates and initializes a calibrated camera for the F-Theta distortion model.
struct dwContextObject * dwContextHandle_t
Context handle.
Definition: Context.h:79
NVIDIA DriveWorks API: Core Methods
DW_API_PUBLIC dwStatus dwCameraModel_initializeOCam(dwCameraModelHandle_t *obj, const dwOCamCameraConfig *config, dwContextHandle_t context)
Creates and initializes a calibrated omnidirectional camera.
Configuration parameters for a calibrated FTheta camera.
Definition: Rig.h:347
Configuration parameters for a calibrated pinhole camera.
Definition: Rig.h:94
DW_API_PUBLIC dwStatus dwCameraModel_applyImageTransform(const dwMatrix3f *transform, dwVector2ui newSize, dwCameraModelHandle_t obj)
Sets a new origin for the image.
struct dwCameraModelObject * dwCameraModelHandle_t
A pointer to the handle representing a calibrated camera model.
Definition: CameraModel.h:66
#define DW_API_PUBLIC
Definition: Exports.h:54
DW_API_PUBLIC dwStatus dwCameraModel_initialize(dwCameraModelHandle_t *camera, uint32_t sensorId, dwConstRigHandle_t obj)
Creates a calibrated camera model polymorphically for a compatible sensor.
NVIDIA DriveWorks API: Core Exports