Camera Rig

Detailed Description

Handles representing a camera rig object.

Macros
#define	DW_MAX_RIG_CAMERA_COUNT   255
	Defines the maximum number of cameras in a rig. More...

Typedefs
typedef struct dwCameraRigObject *	dwCameraRigHandle_t
	Handle representing a camera rig object. More...
typedef struct dwCameraRigObject const *	dwConstCameraRigHandle_t
	Handle representing a const camera rig object. More...

Functions
DW_API_PUBLIC dwStatus	dwCameraRig_getCam2Rig (dwTransformation *cam2Rig, uint32_t index, dwCameraRigHandle_t obj)
	Gets the relative pose for a camera in a rig. More...
DW_API_PUBLIC dwStatus	dwCameraRig_initialize (dwCameraRigHandle_t *obj, dwContextHandle_t context, const uint32_t cameraCount)
	Creates and initializes a camera rig. More...
DW_API_PUBLIC dwStatus	dwCameraRig_initializeFromConfig (dwCameraRigHandle_t *obj, uint32_t *cameraCount, dwCalibratedCameraHandle_t *cameras, uint32_t maxCamerasCount, dwContextHandle_t context, dwRigConfigurationHandle_t rigConfig)
	Creates and initializes a camera rig from a rig configuration and initializes all the necessary cameras. More...
DW_API_PUBLIC dwStatus	dwCameraRig_release (dwCameraRigHandle_t *obj)
	Releases the camera rig object. More...
DW_API_PUBLIC dwStatus	dwCameraRig_reset (dwCameraRigHandle_t obj)
	Resets a camera rig. More...
DW_API_PUBLIC dwStatus	dwCameraRig_setCam2Rig (dwCameraRigHandle_t obj, uint32_t index, const dwTransformation *cam2Rig)
	Sets the relative pose for a camera in a rig. More...
DW_API_PUBLIC dwStatus	dwCameraRig_setCamera (dwCameraRigHandle_t obj, uint32_t index, dwCalibratedCameraHandle_t camera)
	Sets the camera model for a camera in a rig. More...

Macro Definition Documentation

DW_MAX_RIG_CAMERA_COUNT

#define DW_MAX_RIG_CAMERA_COUNT   255

Defines the maximum number of cameras in a rig.

Definition at line 220 of file Camera.h.

Typedef Documentation

dwCameraRigHandle_t

typedef struct dwCameraRigObject* dwCameraRigHandle_t

Handle representing a camera rig object.

A rig corresponds to a collection of cameras rigidly attached to each other. Each camera is described by a calibrated model (dwCalibratedCamera) and a relative pose from the center of the rig to the camera.

Definition at line 213 of file Camera.h.

dwConstCameraRigHandle_t

typedef struct dwCameraRigObject const* dwConstCameraRigHandle_t

Handle representing a const camera rig object.

Definition at line 217 of file Camera.h.

Function Documentation

dwCameraRig_getCam2Rig()

DW_API_PUBLIC dwStatus dwCameraRig_getCam2Rig	(	dwTransformation *	cam2Rig,
		uint32_t	index,
		dwCameraRigHandle_t	obj
	)

Gets the relative pose for a camera in a rig.

Parameters

[out]	cam2Rig	A pointer to the relative pose matrix (rotation+translation).
[in]	index	Specifies the camera index.
[in]	obj	Specifies the camera rig.

Returns

DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST, DW_INVALID_ARGUMENT

dwCameraRig_initialize()

DW_API_PUBLIC dwStatus dwCameraRig_initialize	(	dwCameraRigHandle_t *	obj,
		dwContextHandle_t	context,
		const uint32_t	cameraCount
	)

Creates and initializes a camera rig.

Parameters

[out]	obj	A pointer to the camera rig handle is returned here.
[in]	context	Specifies a handle to the context under which it is created.
[in]	cameraCount	Specifies the number of cameras that the rig has.

Returns

DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST, DW_INVALID_ARGUMENT

dwCameraRig_initializeFromConfig()

DW_API_PUBLIC dwStatus dwCameraRig_initializeFromConfig	(	dwCameraRigHandle_t *	obj,
		uint32_t *	cameraCount,
		dwCalibratedCameraHandle_t *	cameras,
		uint32_t	maxCamerasCount,
		dwContextHandle_t	context,
		dwRigConfigurationHandle_t	rigConfig
	)

Creates and initializes a camera rig from a rig configuration and initializes all the necessary cameras.

Parameters

[out]	obj	A pointer to the camera rig handle is returned here.
[out]	cameraCount	A pointer to the number of cameras in the rig.
[out]	cameras	An array of handles to the calibrated cameras created for the rig. These must be released with dwCalibratedCamera_release() by the caller.
[in]	maxCamerasCount	Specifies the size of the array pointed by cameras.
[in]	context	Specifies the handle to the context under which it is created.
[in]	rigConfig	Specifies the configuration of the rig.

Returns

DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST, DW_INVALID_ARGUMENT

dwCameraRig_release()

DW_API_PUBLIC dwStatus dwCameraRig_release

(

dwCameraRigHandle_t *

obj

)

Releases the camera rig object.

This method releases all resources associated with a camera rig. Note that the rig does not take ownership of the cameras and they should be released separately.

Note

This method renders the handle unusable.

Parameters

[in]

obj

A pointer to the object handle to be released.

Returns

DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

dwCameraRig_reset()

DW_API_PUBLIC dwStatus dwCameraRig_reset

(

dwCameraRigHandle_t

obj

)

Resets a camera rig.

Camera models are forgotten and the cam2Rig poses are reset to identity.

Parameters

[in]

obj

Specifies the camera rig handle to reset.

Returns

DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

dwCameraRig_setCam2Rig()

DW_API_PUBLIC dwStatus dwCameraRig_setCam2Rig	(	dwCameraRigHandle_t	obj,
		uint32_t	index,
		const dwTransformation *	cam2Rig
	)

Sets the relative pose for a camera in a rig.

Parameters

[in]	obj	Specifies the camera rig.
[in]	index	Specifies the camera index to set.
[in]	cam2Rig	A pointer to the relative pose matrix (rotation+translation). Pose is copied into the state of the camera rig.

Returns

DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST, DW_INVALID_ARGUMENT

dwCameraRig_setCamera()

DW_API_PUBLIC dwStatus dwCameraRig_setCamera	(	dwCameraRigHandle_t	obj,
		uint32_t	index,
		dwCalibratedCameraHandle_t	camera
	)

Sets the camera model for a camera in a rig.

Parameters

[in]	obj	Specifies the camera rig.
[in]	index	Specifies the camera index to set.
[in]	camera	Specifies the handle to the camera to use for this entry in the camera rig.

Returns

DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST, DW_INVALID_ARGUMENT