Rectifier.h

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#ifndef DW_IMAGEPROCESSING_GEOMETRY_RECTIFIER_H_
#define DW_IMAGEPROCESSING_GEOMETRY_RECTIFIER_H_

#include <dw/core/context/Context.h>
#include <dw/core/base/Types.h>
#include <dw/image/Image.h>
#include <dw/calibration/cameramodel/CameraModel.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef struct dwRectifierObject* dwRectifierHandle_t;

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

DW_API_PUBLIC
dwStatus dwRectifier_reset(dwRectifierHandle_t obj);

DW_API_PUBLIC
dwStatus dwRectifier_release(dwRectifierHandle_t obj);

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

#ifdef VIBRANTE

DW_API_PUBLIC
dwStatus dwRectifier_warpNvMedia(dwImageNvMedia* outputImage, const dwImageNvMedia* inputImage, dwRectifierHandle_t obj);
#endif

DW_API_PUBLIC
dwStatus dwRectifier_warpROI(dwImageCUDA* outputImage, const dwImageCUDA* inputImage,
                             bool setOutsidePixelsToBlack, const dwRect roi, dwRectifierHandle_t obj);

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

DW_API_PUBLIC
dwStatus dwRectifier_setHomographyFromRotation(float32_t roll, float32_t pitch, float32_t yaw, dwRectifierHandle_t obj);

DW_API_PUBLIC
dwStatus dwRectifier_warpPointsCPU(dwVector2f* outputPoints, const dwVector2f* inputPoints,
                                   uint32_t pointCount, dwRectifierHandle_t obj);

DW_API_PUBLIC
dwStatus dwRectifier_warpPointsInPlaceCPU(dwVector2f* points,
                                          uint32_t pointCount, dwRectifierHandle_t obj);

DW_API_PUBLIC
dwStatus dwRectifier_warpPointsGPU(dwVector2f* outputPoints, const dwVector2f* inputPoints,
                                   uint32_t pointCount, dwRectifierHandle_t obj);

DW_API_PUBLIC
dwStatus dwRectifier_warpPointsInPlaceGPU(dwVector2f* points,
                                          uint32_t pointCount, dwRectifierHandle_t obj);

DW_API_PUBLIC
dwStatus dwRectifier_getHomography(dwMatrix3f* homography, dwRectifierHandle_t obj);

DW_API_PUBLIC
dwStatus dwRectifier_setCUDAStream(cudaStream_t stream, dwRectifierHandle_t obj);

DW_API_PUBLIC
dwStatus dwRectifier_getCUDAStream(cudaStream_t* stream, dwRectifierHandle_t obj);

DW_API_PUBLIC
dwStatus dwRectifier_getDistortionMap(dwImageCUDA* distortionMap, dwRectifierHandle_t obj);

#ifdef __cplusplus
}
#endif

#endif // DW_RECTIFIER_H_