1 # Copyright (c) 2019-2020, NVIDIA CORPORATION. All rights reserved.
3 @page rectifier_mainsection Rectifier
5 @note SW Release Applicability: This module is available in both **NVIDIA DriveWorks** and **NVIDIA DRIVE Software** releases.
9 The main purpose of the module is to convert an image acquired with an input camera model by projecting it into an output camera module.<br>
10 If the output camera model is the same as the input but without distortion coefficients and perfect parameters, the result will be called<br>
11 "rectified". In order to setup a video rectifier, a rig.json with intrinsics calibration of the cameras is required.<br>
12 The rectifier also allows for homography transformation during the projection onto the output model.<br>
13 An homography can be used to simulate the location of a camera that is displaced from the original camera's location, effectively simulating<br>
15 In order to initialize the rectifier, the two Calibrated Camera models are required. When warping, a user allocated output image, with<br>
16 properties of the output camera and format of the input image is required. Currently any image as long as uint8 or float32 is supported.<br>
17 The calculation of the distortion map will be done at initialization and recalculated when `dwRectifier_setHomography()` is called<br>
18 Such distortion map will be used to calculate the warped image. Such map can be retrieved<br>
19 by calling `dwRectifier_getDistortionMap()`, in the form of a ::dwImageCUDA with ::DW_IMAGE_FORMAT_RG_FLOAT32 format (XYXYXYXY...)<br>
20 that correspond, for each pixel in the output image, to a location in the input image.<br>
24 - @ref rectifier_usecase1
28 - @ref rectifier_group