Rectifier

Detailed Description

Defines the rectifier module.

Typedefs
typedef struct dwRectifierObject *	dwRectifierHandle_t
	A pointer to the handle representing a rectifier. More...

Functions
DW_API_PUBLIC dwStatus	dwRectifier_getCUDAStream (cudaStream_t *stream, dwRectifierHandle_t obj)
	Gets the CUDA stream used. More...
DW_API_PUBLIC dwStatus	dwRectifier_getHomography (dwMatrix3f *homography, dwRectifierHandle_t obj)
	Gets the homography matrix used. More...
DW_API_PUBLIC dwStatus	dwRectifier_initialize (dwRectifierHandle_t *obj, dwCalibratedCameraHandle_t cameraIn, dwCalibratedCameraHandle_t cameraOut, dwContextHandle_t ctx)
	Initializes a rectifier based on an input and output camera model and a homography. More...
DW_API_PUBLIC dwStatus	dwRectifier_release (dwRectifierHandle_t *obj)
	Releases the rectifier module. More...
DW_API_PUBLIC dwStatus	dwRectifier_reset (dwRectifierHandle_t obj)
	Resets the rectifier module. More...
DW_API_PUBLIC dwStatus	dwRectifier_setCUDAStream (cudaStream_t stream, dwRectifierHandle_t obj)
	Sets the CUDA stream used. More...
DW_API_PUBLIC dwStatus	dwRectifier_setHomography (const dwMatrix3f *homography, dwRectifierHandle_t obj)
	Sets the homography matrix used. More...
DW_API_PUBLIC dwStatus	dwRectifier_warp (dwImageCUDA *outputImage, const dwImageCUDA *inputImage, dwRectifierHandle_t obj)
	Warps the image from the input camera model to the model of the output camera. More...

Typedef Documentation

dwRectifierHandle_t

typedef struct dwRectifierObject* dwRectifierHandle_t

A pointer to the handle representing a rectifier.

This object allows you to rectify an image acquired in one camera model by projecting it into another camera model.

Definition at line 61 of file Rectifier.h.

Function Documentation

dwRectifier_getCUDAStream()

DW_API_PUBLIC dwStatus dwRectifier_getCUDAStream	(	cudaStream_t *	stream,
		dwRectifierHandle_t	obj
	)

Gets the CUDA stream used.

Parameters

[in]	stream	Uses this CUDA stream.
[in]	obj	A pointer to the rectifier handle that is updated. Initialization must not have changed.

Returns

DW_INVALID_ARGUMENT, DW_SUCCESS

dwRectifier_getHomography()

DW_API_PUBLIC dwStatus dwRectifier_getHomography	(	dwMatrix3f *	homography,
		dwRectifierHandle_t	obj
	)

Gets the homography matrix used.

Parameters

[in]	homography	The homography transformation matrix.
[in]	obj	A pointer to the rectifier handle that is updated. Initialization must not have changed.

Returns

DW_INVALID_ARGUMENT, DW_SUCCESS

dwRectifier_initialize()

DW_API_PUBLIC dwStatus dwRectifier_initialize	(	dwRectifierHandle_t *	obj,
		dwCalibratedCameraHandle_t	cameraIn,
		dwCalibratedCameraHandle_t	cameraOut,
		dwContextHandle_t	ctx
	)

Initializes a rectifier based on an input and output camera model and a homography.

In particular, the rectifier implements Ray2Pixel_cameraOut( H * Pixel2Ray_cameraIn(Image) ). Per default, the homography is set to identity.

Parameters

[out]	obj	A pointer to the rectifier handle for the created module.
[in]	cameraIn	Model of the input camera.
[in]	cameraOut	Model of the output camera.
[in]	ctx	Specifies the handler to the context to create the rectifier.

Returns

DW_INVALID_ARGUMENT, DW_SUCCESS

dwRectifier_release()

DW_API_PUBLIC dwStatus dwRectifier_release

(

dwRectifierHandle_t *

obj

)

Releases the rectifier module.

Parameters

[in]

obj

A pointer to the object handle to release.

Returns

DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

Note

This method renders the handle unusable.

dwRectifier_reset()

DW_API_PUBLIC dwStatus dwRectifier_reset

(

dwRectifierHandle_t

obj

)

Resets the rectifier module.

Parameters

[in]

obj

Specifies the rectifier to reset.

Returns

DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

dwRectifier_setCUDAStream()

DW_API_PUBLIC dwStatus dwRectifier_setCUDAStream	(	cudaStream_t	stream,
		dwRectifierHandle_t	obj
	)

Sets the CUDA stream used.

Parameters

[in]	stream	The CUDA stream to use.
[in]	obj	A pointer to the rectifier handle that is updated. Initialization must not have changed.

Returns

DW_INVALID_ARGUMENT, DW_SUCCESS

dwRectifier_setHomography()

DW_API_PUBLIC dwStatus dwRectifier_setHomography	(	const dwMatrix3f *	homography,
		dwRectifierHandle_t	obj
	)

Sets the homography matrix used.

Parameters

[in]	homography	The new homography transformation matrix.
[in]	obj	A pointer to the rectifier handle that is updated. Initialization must not have changed.

Returns

DW_INVALID_ARGUMENT, DW_SUCCESS

dwRectifier_warp()

DW_API_PUBLIC dwStatus dwRectifier_warp	(	dwImageCUDA *	outputImage,
		const dwImageCUDA *	inputImage,
		dwRectifierHandle_t	obj
	)

Warps the image from the input camera model to the model of the output camera.

Parameters

[out]	outputImage	Pointer to the output image.
[in]	inputImage	Pointer to the input image.
[in]	obj	A pointer to the rectifier handle that performs the warping.

Returns

DW_INVALID_ARGUMENT, DW_SUCCESS