calibration/cameramodel/docs/usecase0.md

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# Copyright (c) 2019-2020 NVIDIA CORPORATION.  All rights reserved.

@page cameramodel_usecase0 Ray-to-Pixel and Pixel-to-Ray

@note SW Release Applicability: This tutorial is applicable to modules in both **NVIDIA DriveWorks** and **NVIDIA DRIVE Software** releases.

The following code snippet shows the general structure of a program that uses a rig to initialize a calibrated camera model and perform projection / unprojection using that model.

```{.cpp}
    dwRig_initializeFromFile(...);

    dwRig_getSensorCount(&sensorCount, ...);
    for(uint32_t sensorID; sensorID < sensorCount; ++sensorID)
    {
        dwRig_getSensorType(&sensorType, sensorID, ...);
        if(sensorType == DW_SENSOR_CAMERA)
        {
            dwCameraModel_initialize(&camera, sensorID, ...);

            // use calibrated camera to perform unprojection / projection
            dwCameraModel_pixel2Ray(&x, &y, &z, camera, u, v);
            dwCameraModel_ray2Pixel(&u, &v camera, x, y, z);
        }
    }
```
For the full implementation refer to @ref dwx_rig_sample.