Rig.h

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#ifndef DW_RIG_RIG_H_
#define DW_RIG_RIG_H_

#include <dw/core/Config.h>
#include <dw/core/base/Exports.h>
#include <dw/core/context/Context.h>
#include <dw/core/base/Types.h>
#include <dw/sensors/Sensors.h>
#include <dw/rig/Vehicle.h>
#include <stdint.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef struct dwRigObject* dwRigHandle_t;
typedef struct dwRigObject const* dwConstRigHandle_t;

// Calibrated cameras

#define DW_MAX_RIG_CAMERA_COUNT 255U

typedef enum dwCameraModel {
    DW_CAMERA_MODEL_OCAM    = 0,
    DW_CAMERA_MODEL_PINHOLE = 1,
    DW_CAMERA_MODEL_FTHETA  = 2
} dwCameraModel;

#define DW_PINHOLE_DISTORTION_LENGTH 3U

typedef struct dwPinholeCameraConfig
{
    uint32_t width;

    uint32_t height;

    float32_t u0;

    float32_t v0;

    float32_t focalX;

    float32_t focalY;

    float32_t distortion[DW_PINHOLE_DISTORTION_LENGTH];
} dwPinholeCameraConfig;

#define DW_OCAM_POLY_LENGTH 5U

typedef struct dwOCamCameraConfig
{
    uint32_t width;

    uint32_t height;

    float32_t u0;

    float32_t v0;

    float32_t c;

    float32_t d;

    float32_t e;

    float32_t poly[DW_OCAM_POLY_LENGTH];
} dwOCamCameraConfig;

#define DW_FTHETA_POLY_LENGTH 5U

typedef struct dwFThetaCameraConfig
{
    uint32_t width;

    uint32_t height;

    float32_t u0;

    float32_t v0;

    float32_t backwardsPoly[DW_FTHETA_POLY_LENGTH];
} dwFThetaCameraConfig;

typedef struct dwStereographicCameraConfig
{
    uint32_t width;

    uint32_t height;

    float32_t u0;

    float32_t v0;

    float32_t hFOV;
} dwStereographicCameraConfig;

DW_API_PUBLIC
dwStatus dwRig_initializeFromFile(dwRigHandle_t* const obj,
                                  dwContextHandle_t const ctx,
                                  char8_t const* const configurationFile);

DW_API_PUBLIC
dwStatus dwRig_initializeFromString(dwRigHandle_t* const obj,
                                    dwContextHandle_t const ctx,
                                    char8_t const* const configurationString,
                                    char8_t const* const relativeBasePath);

DW_API_PUBLIC
dwStatus dwRig_reset(dwRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_release(dwRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_getVehicle(dwVehicle const** const vehicle, dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_getGenericVehicle(dwGenericVehicle* const vehicle, dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_setVehicle(dwVehicle const* const vehicle, dwRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_setGenericVehicle(dwGenericVehicle const* const vehicle, dwRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_getVehicleIOConfigCount(uint32_t* const vioConfigCount,
                                       dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_getSensorCount(uint32_t* const sensorCount,
                              dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_getSensorCountOfType(uint32_t* const sensorCount,
                                    dwSensorType const sensorType,
                                    dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_getSensorProtocol(char8_t const** const sensorProtocol,
                                 uint32_t const sensorId,
                                 dwConstRigHandle_t const obj);

DW_API_PUBLIC dwStatus dwRig_getSensorParameter(char8_t const** const sensorParameter,
                                                uint32_t const sensorId,
                                                dwConstRigHandle_t const obj);

DW_API_PUBLIC dwStatus dwRig_setSensorParameter(char8_t const* const sensorParameter,
                                                uint32_t const sensorId,
                                                dwRigHandle_t const obj);

DW_API_PUBLIC dwStatus dwRig_getSensorParameterUpdatedPath(char8_t const** const sensorParameter,
                                                           uint32_t const sensorId,
                                                           dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_getSensorToRigTransformation(dwTransformation3f* const transformation,
                                            uint32_t const sensorId,
                                            dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_getSensorFLUToRigTransformation(dwTransformation3f* const transformation,
                                               uint32_t const sensorId,
                                               dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_getNominalSensorToRigTransformation(dwTransformation3f* const transformation,
                                                   uint32_t const sensorId,
                                                   dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_getSensorToSensorTransformation(dwTransformation3f* const transformation,
                                               uint32_t const sensorIdFrom,
                                               uint32_t const sensorIdTo,
                                               dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_getNominalSensorToSensorTransformation(dwTransformation3f* const transformation,
                                                      uint32_t const sensorIdFrom,
                                                      uint32_t const sensorIdTo,
                                                      dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_setSensorToRigTransformation(dwTransformation3f const* const transformation,
                                            uint32_t const sensorId,
                                            dwRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_getSensorName(char8_t const** const sensorName,
                             uint32_t const sensorId,
                             dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_getSensorDataPath(char8_t const** const dataPath,
                                 uint32_t const sensorId,
                                 dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_getCameraTimestampPath(char8_t const** const timestampPath,
                                      uint32_t const sensorId,
                                      dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_getSensorPropertyByName(char8_t const** const propertyValue,
                                       char8_t const* const propertyName,
                                       uint32_t const sensorId,
                                       dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_addOrSetSensorPropertyByName(char8_t const* const propertyValue,
                                            char8_t const* const propertyName,
                                            uint32_t const sensorId,
                                            dwRigHandle_t const obj);
DW_API_PUBLIC
dwStatus dwRig_getPropertyByName(char8_t const** const propertyValue,
                                 char8_t const* const propertyName,
                                 dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_addOrSetPropertyByName(char8_t const* const propertyValue,
                                      char8_t const* const propertyName,
                                      dwRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_findSensorByName(uint32_t* const sensorId,
                                char8_t const* const sensorName,
                                dwConstRigHandle_t const obj);
DW_API_PUBLIC
dwStatus dwRig_findSensorIdFromVehicleIOId(uint32_t* const sensorId,
                                           uint32_t const vehicleIOId,
                                           dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_findSensorByTypeIndex(uint32_t* const sensorId,
                                     dwSensorType const sensorType,
                                     uint32_t const sensorTypeIndex,
                                     dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_getSensorType(dwSensorType* const sensorType,
                             uint32_t const sensorId,
                             dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_getCameraModel(dwCameraModel* const cameraModel,
                              uint32_t const sensorId,
                              dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_getPinholeCameraConfig(dwPinholeCameraConfig* const config,
                                      uint32_t const sensorId,
                                      dwConstRigHandle_t const obj);

DW_API_PUBLIC
DW_DEPRECATED("OCam support will be removed from Driveworks in an upcmming release. Use FTheta instead.")
dwStatus dwRig_getOCamCameraConfig(dwOCamCameraConfig* const config,
                                   uint32_t const sensorId,
                                   dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_getFThetaCameraConfig(dwFThetaCameraConfig* const config,
                                     uint32_t const sensorId,
                                     dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_setPinholeCameraConfig(dwPinholeCameraConfig const* const config,
                                      uint32_t const sensorId,
                                      dwRigHandle_t const obj);

DW_API_PUBLIC
DW_DEPRECATED("OCam support will be removed from Driveworks in an upcoming release. Use FTheta instead.")
dwStatus dwRig_setOCamCameraConfig(dwOCamCameraConfig const* const config,
                                   uint32_t const sensorId,
                                   dwRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_setFThetaCameraConfig(dwFThetaCameraConfig const* const config,
                                     uint32_t const sensorId,
                                     dwRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_serializeToFile(char8_t const* const configurationFile,
                               dwConstRigHandle_t const obj);

#ifdef __cplusplus
}
#endif

#endif // DW_RIG_RIG_H_