Camera.h

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#ifndef DW_RIGCONFIGURATION_CAMERA_H__
#define DW_RIGCONFIGURATION_CAMERA_H__

#include <dw/core/Config.h>
#include <dw/core/Context.h>
#include <dw/core/Exports.h>
#include <dw/core/Types.h>
#include <dw/rigconfiguration/RigConfiguration.h>

#ifdef __cplusplus
extern "C" {
#endif

// Calibrated cameras

typedef struct dwCalibratedCameraObject *dwCalibratedCameraHandle_t;

typedef struct dwCalibratedCameraObject const *dwConstCalibratedCameraHandle_t;

DW_API_PUBLIC
dwStatus dwCalibratedCamera_initializePinhole(dwCalibratedCameraHandle_t *obj,
                                              dwContextHandle_t context,
                                              const dwPinholeCameraConfig *config);

DW_API_PUBLIC
dwStatus dwCalibratedCamera_initializeOCam(dwCalibratedCameraHandle_t *obj,
                                           dwContextHandle_t context,
                                           const dwOCamCameraConfig *config);

DW_API_PUBLIC
dwStatus dwCalibratedCamera_initializeFTheta(dwCalibratedCameraHandle_t *obj,
                                             dwContextHandle_t context,
                                             const dwFThetaCameraConfig *config);

DW_API_PUBLIC
dwStatus dwCalibratedCamera_release(dwCalibratedCameraHandle_t *obj);

DW_API_PUBLIC
dwStatus dwCalibratedCamera_getInversePolynomial(float32_t *invPoly, size_t *size,
                                                 dwCalibratedCameraHandle_t obj);

DW_API_PUBLIC
dwStatus dwCalibratedCamera_pixel2Ray(float32_t *x, float32_t *y, float32_t *z,
                                      dwConstCalibratedCameraHandle_t obj,
                                      float32_t u, float32_t v);

DW_API_PUBLIC
dwStatus dwCalibratedCamera_ray2Pixel(float32_t *u, float32_t *v,
                                      dwConstCalibratedCameraHandle_t obj,
                                      float32_t x, float32_t y, float32_t z);

DW_API_PUBLIC
dwStatus dwCalibratedCamera_getHorizontalFOV(float32_t *hfov,
                                             dwConstCalibratedCameraHandle_t obj);
// dwCameraRig

typedef struct dwCameraRigObject *dwCameraRigHandle_t;

typedef struct dwCameraRigObject const *dwConstCameraRigHandle_t;

#define DW_MAX_RIG_CAMERA_COUNT 255

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

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

DW_API_PUBLIC
dwStatus dwCameraRig_reset(dwCameraRigHandle_t obj);

DW_API_PUBLIC
dwStatus dwCameraRig_release(dwCameraRigHandle_t *obj);

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

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

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

#ifdef __cplusplus
}
#endif

#endif // DW_RIGCONFIGURATION_MODELS_H__