CameraModel.h

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#ifndef DW_CALIBRATION_CAMERAMODEL_CAMERAMODEL_H_
#define DW_CALIBRATION_CAMERAMODEL_CAMERAMODEL_H_

#include <dw/core/Config.h>
#include <dw/core/context/Context.h>
#include <dw/core/base/Exports.h>
#include <dw/core/base/Types.h>
#include <dw/rig/Rig.h>

#ifdef __cplusplus
extern "C" {
#endif

// Calibrated cameras

typedef struct dwCameraModelObject* dwCameraModelHandle_t;

typedef struct dwCameraModelObject const* dwConstCameraModelHandle_t;

DW_API_PUBLIC
dwStatus dwCameraModel_initializePinhole(dwCameraModelHandle_t* obj,
                                         const dwPinholeCameraConfig* config,
                                         dwContextHandle_t context);

DW_API_PUBLIC
DW_DEPRECATED("OCam support will be removed from Driveworks in an upcoming release. Use FTheta instead.")
dwStatus dwCameraModel_initializeOCam(dwCameraModelHandle_t* obj,
                                      const dwOCamCameraConfig* config,
                                      dwContextHandle_t context);

DW_API_PUBLIC
dwStatus dwCameraModel_initializeFTheta(dwCameraModelHandle_t* obj,
                                        const dwFThetaCameraConfig* config,
                                        dwContextHandle_t context);

DW_API_PUBLIC
dwStatus dwCameraModel_initializeStereographic(dwCameraModelHandle_t* obj,
                                               const dwStereographicCameraConfig* config,
                                               dwContextHandle_t context);

DW_API_PUBLIC
dwStatus dwCameraModel_release(dwCameraModelHandle_t obj);

DW_API_PUBLIC
dwStatus dwCameraModel_getInversePolynomial(float32_t* invPoly, size_t* size,
                                            dwCameraModelHandle_t obj);

DW_API_PUBLIC
dwStatus dwCameraModel_pixel2Ray(float32_t* x, float32_t* y, float32_t* z,
                                 float32_t u, float32_t v,
                                 dwConstCameraModelHandle_t obj);

DW_API_PUBLIC
dwStatus dwCameraModel_ray2Pixel(float32_t* u, float32_t* v,
                                 float32_t x, float32_t y, float32_t z,
                                 dwConstCameraModelHandle_t obj);

DW_API_PUBLIC
dwStatus dwCameraModel_isRayInsideFOV(bool* isInsideMaxFOV,
                                      float32_t x, float32_t y, float32_t z,
                                      dwConstCameraModelHandle_t obj);

DW_API_PUBLIC
dwStatus dwCameraModel_getHorizontalFOV(float32_t* hfov,
                                        dwConstCameraModelHandle_t obj);

DW_API_PUBLIC
dwStatus dwCameraModel_getImageSize(uint32_t* width, uint32_t* height,
                                    dwConstCameraModelHandle_t obj);

DW_API_PUBLIC
dwStatus dwCameraModel_applyImageTransform(const dwMatrix3f* transform,
                                           dwVector2ui newSize,
                                           dwCameraModelHandle_t obj);

DW_API_PUBLIC
dwStatus dwCameraModel_initialize(dwCameraModelHandle_t* camera,
                                  uint32_t sensorId,
                                  dwConstRigHandle_t obj);

#ifdef __cplusplus
}
#endif

#endif // DW_CALIBRATION_CAMERAMODEL_CAMERAMODEL_H_