Detailed Description

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360 Image and Coordinate Warp SDK.

Definition in file NVWarp360.h.

Go to the source code of this file.

Data Structures
struct	nvwarpParams_t
	Parameter structure. More...

struct	nvwarpYUVRGBParams_t
	Parameters for YUV:420:NV12 --> RGBA conversion. More...

Macros
#define	NVWARPAPI
	export tag More...

#define	NVWARP_VERSION_MAJOR(version) (((v) >> 24) & 0xff)
	Helper function to extract the major part of the version returned by nvwarpVersion(). More...

#define	NVWARP_VERSION_MINOR(version) (((v) >> 16) & 0xff)
	Helper function to extract the minor part of the version returned by nvwarpVersion(). More...

#define	NVWARP_VERSION_REVISION(version) (((v) >> 8) & 0xff)
	Helper function to extract the revision part of the version returned by nvwarpVersion(). More...

Typedefs
typedef enum nvwarpResult	nvWarpResult
	Error code enumerations for NVWarp360. More...

typedef enum nvwarpSurface_t	nvwarpSurface_t

typedef enum nvwarpType_t	nvwarpType_t
	Warp type enumeration. More...

typedef struct nvwarpParams_t	nvwarpParams_t
	Parameter structure. More...

typedef struct nvwarpObject *	nvwarpHandle
	Opaque definition of a pointer to the Warp360 state. More...

typedef struct nvwarpYUVRGBParams_t	nvwarpYUVRGBParams_t
	Parameters for YUV:420:NV12 --> RGBA conversion. More...

Enumerations
enum	nvwarpResult { NVWARP_SUCCESS = 0, NVWARP_ERR_GENERAL = 1, NVWARP_ERR_UNIMPLEMENTED = 2, NVWARP_ERR_DOMAIN = 3, NVWARP_ERR_MISSING_PARAMETERS = 4, NVWARP_ERR_PARAMETER = 5, NVWARP_ERR_INITIALIZATION = 6, NVWARP_ERR_CUDA_MEMORY = 7, NVWARP_ERR_CUDA_LAUNCH = 8, NVWARP_ERR_CUDA_DRIVER = 9, NVWARP_ERR_CUDA_NO_KERNEL = 10, NVWARP_ERR_CUDA = 11, NVWARP_ERR_APPROXIMATE = 12, NVWARP_ERR_MAX = 0x7fffffff }
	Error code enumerations for NVWarp360. More...

enum	nvwarpSurface_t { NVSURF_PERSPECTIVE = 0, NVSURF_FISHEYE = 1, NVSURF_EQUIRECT = 2, NVSURF_CYLINDER = 3, NVSURF_ROTCYLINDER = 4, NVSURF_PUSHBROOM = 5, NVSURF_PANINI = 6, NVSURF_STEREOGRAPHIC = 7, NVSURF_BITS = 8, NVSURF_UNKNOWN = ((1 << NVSURF_BITS) - 1), NVSURF_MASK = ((1 << NVSURF_BITS) - 1), NVSURF_MAX = 0x7fffffff }

enum	nvwarpType_t { NVWARP_EQUIRECT_CYLINDER = (NVSURF_EQUIRECT << NVSURF_BITS) \| NVSURF_CYLINDER, NVWARP_EQUIRECT_EQUIRECT = (NVSURF_EQUIRECT << NVSURF_BITS) \| NVSURF_EQUIRECT, NVWARP_EQUIRECT_FISHEYE = (NVSURF_EQUIRECT << NVSURF_BITS) \| NVSURF_FISHEYE, NVWARP_EQUIRECT_PANINI = (NVSURF_EQUIRECT << NVSURF_BITS) \| NVSURF_PANINI, NVWARP_EQUIRECT_PERSPECTIVE = (NVSURF_EQUIRECT << NVSURF_BITS) \| NVSURF_PERSPECTIVE, NVWARP_EQUIRECT_PUSHBROOM = (NVSURF_EQUIRECT << NVSURF_BITS) \| NVSURF_PUSHBROOM, NVWARP_EQUIRECT_STEREOGRAPHIC = (NVSURF_EQUIRECT << NVSURF_BITS) \| NVSURF_STEREOGRAPHIC, NVWARP_EQUIRECT_ROTCYLINDER = (NVSURF_EQUIRECT << NVSURF_BITS) \| NVSURF_ROTCYLINDER, NVWARP_FISHEYE_CYLINDER = (NVSURF_FISHEYE << NVSURF_BITS) \| NVSURF_CYLINDER, NVWARP_FISHEYE_EQUIRECT = (NVSURF_FISHEYE << NVSURF_BITS) \| NVSURF_EQUIRECT, NVWARP_FISHEYE_FISHEYE = (NVSURF_FISHEYE << NVSURF_BITS) \| NVSURF_FISHEYE, NVWARP_FISHEYE_PANINI = (NVSURF_FISHEYE << NVSURF_BITS) \| NVSURF_PANINI, NVWARP_FISHEYE_PERSPECTIVE = (NVSURF_FISHEYE << NVSURF_BITS) \| NVSURF_PERSPECTIVE, NVWARP_FISHEYE_PUSHBROOM = (NVSURF_FISHEYE << NVSURF_BITS) \| NVSURF_PUSHBROOM, NVWARP_FISHEYE_ROTCYLINDER = (NVSURF_FISHEYE << NVSURF_BITS) \| NVSURF_ROTCYLINDER, NVWARP_PERSPECTIVE_EQUIRECT = (NVSURF_PERSPECTIVE << NVSURF_BITS) \| NVSURF_EQUIRECT, NVWARP_PERSPECTIVE_PANINI = (NVSURF_PERSPECTIVE << NVSURF_BITS) \| NVSURF_PANINI, NVWARP_PERSPECTIVE_PERSPECTIVE = (NVSURF_PERSPECTIVE << NVSURF_BITS) \| NVSURF_PERSPECTIVE, NVWARP_NONE = 0xffffffff }
	Warp type enumeration. More...

Functions
void NVWARPAPI	nvwarpInitParams (nvwarpParams_t *params)
	Initialize nvwarpParams_t to defaults or NaN if a particular parameter must be supplied. More...

nvwarpResult NVWARPAPI	nvwarpComputeParamsSrcFocalLength (nvwarpParams_t *params, float angle, float radius)
	Compute and set the srcFocalLen given the warp type and srcDist distortion coefficients, plus an angle and corresponding radius. More...

nvwarpResult NVWARPAPI	nvwarpComputeParamsOutputResolution (nvwarpParams_t *params, float aspectRatio)
	Compute the output resolution that matches the source focal length and desired aspect ratio. More...

nvwarpResult NVWARPAPI	nvwarpComputeParamsAxialAngleRange (const nvwarpParams_t *params, float minMaxXY[4])
	Compute the angular limits on the source image along the primary axes going through the center of projection. More...

nvwarpResult NVWARPAPI	nvwarpComputeBoxAxialAngleRange (const nvwarpParams_t *params, const float srcBoundingBox[4], float minMaxXY[4])
	Compute the angular limits on the source bounding box along the primary axes going through the center of projection. More...

nvwarpResult NVWARPAPI	nvwarpCreateInstance (nvwarpHandle *han)
	Constructor for a new instance of a Warp360 object. More...

void NVWARPAPI	nvwarpDestroyInstance (nvwarpHandle han)
	Destructor for a Warp360 object. More...

uint32_t NVWARPAPI	nvwarpVersion ()
	Get the version number, encoded as (major_version * 16777216u + minor * 65536u + revision * 256u). More...

const char *NVWARPAPI	nvwarpErrorStringFromCode (nvwarpResult err)
	Get the error string corresponding to the given result code. More...

nvwarpResult NVWARPAPI	nvwarpSetParams (nvwarpHandle han, const nvwarpParams_t *params)
	Set parameters for a warp. More...

void NVWARPAPI	nvwarpGetParams (const nvwarpHandle han, nvwarpParams_t *params)
	Get the current values of the warp parameters. More...

nvwarpResult NVWARPAPI	nvwarpSetWarpType (nvwarpHandle han, nvwarpType_t type)
	Set the warp type. More...

nvwarpType_t NVWARPAPI	nvwarpGetWarpType (const nvwarpHandle han)
	Get the type of the warp. More...

void NVWARPAPI	nvwarpSetBlock (nvwarpHandle han, dim3 dim_block)
	Set the CUDA block size. More...

void NVWARPAPI	nvwarpGetBlock (const nvwarpHandle han, dim3 *dim_block)
	Get the current value of the CUDA block size. More...

void NVWARPAPI	nvwarpSetPixelPhase (nvwarpHandle han, uint32_t phase)
	Set the pixel phase. More...

uint32_t NVWARPAPI	nvwarpGetPixelPhase (const nvwarpHandle han)
	Get the pixel phase. More...

void NVWARPAPI	nvwarpSetSrcWidthHeight (nvwarpHandle han, uint32_t w, uint32_t h)
	Set the source dimensions. More...

void NVWARPAPI	nvwarpGetSrcWidthHeight (const nvwarpHandle han, uint32_t wh[2])
	Get the source image dimensions. More...

void NVWARPAPI	nvwarpSetSrcFocalLengths (nvwarpHandle han, float fl, float fy)
	Set the source focal length. More...

nvwarpResult NVWARPAPI	nvwarpComputeSrcFocalLength (nvwarpHandle han, nvwarpType_t warpType, float radius, float angle, float dist[5])
	Compute the source focal length, primarily from a radius and corresponding angle (e.g. More...

float NVWARPAPI	nvwarpGetSrcFocalLength (const nvwarpHandle han, float *fy)
	Get one or both source focal lengths. More...

void NVWARPAPI	nvwarpSetSrcPrincipalPoint (nvwarpHandle han, const float xy[2], uint32_t relToCenter)
	Specify the principal point of the source image. More...

void NVWARPAPI	nvwarpGetSrcPrincipalPoint (const nvwarpHandle han, float xy[2], uint32_t relToCenter)
	Get the source principal point. More...

void NVWARPAPI	nvwarpSetSrcRadius (nvwarpHandle han, float r)
	set the source fisheye clipping radius. More...

float NVWARPAPI	nvwarpGetSrcRadius (const nvwarpHandle han)
	Get the source fisheye clipping radius. More...

void NVWARPAPI	nvwarpSetDistortion (nvwarpHandle han, const float d[5])
	Set the distortion coefficients. More...

void NVWARPAPI	nvwarpGetDistortion (const nvwarpHandle han, float d[5])
	Get the distortion coefficients. More...

void NVWARPAPI	nvwarpSetRotation (nvwarpHandle han, const float R[9])
	Specify the rotation. More...

void NVWARPAPI	nvwarpSetEulerRotation (nvwarpHandle han, const float angles, const char axes)
	Specify the view rotation, using a list of angles and their respective axes of rotation. More...

void NVWARPAPI	nvwarpGetRotation (const nvwarpHandle han, float R[9])
	Get the rotation matrix. More...

void NVWARPAPI	nvwarpSetDstWidthHeight (nvwarpHandle han, uint32_t w, uint32_t h)
	Set the destination width and height. More...

void NVWARPAPI	nvwarpGetDstWidthHeight (const nvwarpHandle han, uint32_t wh[2])
	Get the destination width and height. More...

void NVWARPAPI	nvwarpSetDstFocalLengths (nvwarpHandle han, float fl, float fy)
	Set the destination focal length. More...

void NVWARPAPI	nvwarpComputeDstFocalLength (nvwarpHandle han, float topAngle, float bottomAngle, uint32_t dstWidth, uint32_t dstHeight)
	From the vertical view angles, this sets the identical destination focal lengths, plus width and height. More...

nvwarpResult NVWARPAPI	nvwarpComputeDstFocalLengths (nvwarpHandle han, float topAxialAngle, float botAxialAngle, float leftAxialAngle, float rightAxialAngle, uint32_t dstWidth, uint32_t dstHeight)
	From the vertical and horizontal axial view angles, this sets the anisotropic destination focal lengths, asymmetric center of projection, width and height. More...

float NVWARPAPI	nvwarpGetDstFocalLength (const nvwarpHandle han, float *fy)
	Get one or both destination focal lengths. More...

void NVWARPAPI	nvwarpSetDstPrincipalPoint (nvwarpHandle han, const float xy[2], uint32_t relToCenter)
	Set the destination principal point. More...

void NVWARPAPI	nvwarpGetDstPrincipalPoint (const nvwarpHandle han, float xy[2], uint32_t relToCenter)
	Get the destination principal point. More...

void NVWARPAPI	nvwarpSetControl (nvwarpHandle han, uint32_t index, float control)
	Set a control parameter. More...

float NVWARPAPI	nvwarpGetControl (const nvwarpHandle han, uint32_t index)
	Get the value for the control parameters. More...

void NVWARPAPI	nvwarpSetUserData (nvwarpHandle han, void *userData)
	Set the user data pointer. More...

void *NVWARPAPI	nvwarpGetUserData (nvwarpHandle han)
	Get the current value of the user data pointer. More...

nvwarpResult NVWARPAPI	nvwarpWarpSurface (const nvwarpHandle han, cudaStream_t stream, cudaTextureObject_t srcTex, cudaSurfaceObject_t dstSurface)
	Warp an image texture to a surface. More...

nvwarpResult NVWARPAPI	nvwarpWarpBuffer (const nvwarpHandle han, cudaStream_t stream, cudaTextureObject_t srcTex, void *dstAddr, size_t dstRowBytes)
	Warp an image texture to a buffer. More...

nvwarpResult NVWARPAPI	nvwarpWarpCoordinates (const nvwarpHandle han, uint32_t numPts, const float inPtsXY, float outPtsXY)
	Transform coordinates from the input space to the output space. More...

nvwarpResult NVWARPAPI	nvwarpInverseWarpCoordinates (const nvwarpHandle han, uint32_t numPts, const float inPtsXY, float outPtsXY)
	Transform coordinates from the destination space to the source space. More...

nvwarpResult NVWARPAPI	nvwarpSrcToRay (const nvwarpHandle han, uint32_t numPts, const float pts2D, float rays3D)
	Convert source coordinates into normalized rays. More...

nvwarpResult NVWARPAPI	nvwarpDstToRay (const nvwarpHandle han, uint32_t numPts, const float pts2D, float rays3D)
	Convert destination coordinates into normalized rays. More...

nvwarpResult NVWARPAPI	nvwarpSrcFromRay (const nvwarpHandle han, uint32_t numRays, const float rays3D, float pts2D)
	Convert rays into source coordinates. More...

nvwarpResult NVWARPAPI	nvwarpDstFromRay (const nvwarpHandle han, uint32_t numRays, const float rays3D, float pts2D)
	Convert rays into destination coordinates. More...

nvwarpResult NVWARPAPI	nvwarpComputeSrcAngularFromPixelCoordinates (const nvwarpHandle han, uint32_t numPts, const float pts2D, float ang2D)
	Compute the angular coordinates {longitude, latitude} of for the given points in the source. More...

nvwarpResult NVWARPAPI	nvwarpComputeSrcPixelFromAngularCoordinates (const nvwarpHandle han, uint32_t numPts, const float ang2D, float pts2D)
	Compute the pixel coordinates for the given angular coordinates {longitude, latitude} in the source. More...

nvwarpResult NVWARPAPI	nvwarpComputeDstAngularFromPixelCoordinates (const nvwarpHandle han, uint32_t numPts, const float pts2D, float ang2D)
	Compute the angular coordinates {longitude, latitude} of for the given points in the destination. More...

nvwarpResult NVWARPAPI	nvwarpComputeDstPixelFromAngularCoordinates (const nvwarpHandle han, uint32_t numPts, const float ang2D, float pts2D)
	Compute the pixel coordinates for the given angular coordinates {longitude, latitude} in the destination. More...

void NVWARPAPI	nvwarpConvertTransformBetweenYUpandYDown (const float fr[9], float to[9])
	Invert the sense of the Y- and Z-axes in the specified transformation, keeping the X axis pointing in the same direction, i.e. More...

void NVWARPAPI	nvwarpComputeYCbCr2RgbMatrix (nvwarpYUVRGBParams_t *p, uint32_t matrix_coefficients, uint32_t video_full_range_flag, uint32_t bit_depth, uint32_t normalized_input, uint32_t normalized_output)
	General method to compute all values except for {width, height, cLocation}. More...

nvwarpResult NVWARPAPI	nvwarpConvertYUVNV12ToRGBA (cudaStream_t stream, const nvwarpYUVRGBParams_t params, const void yuv, size_t yuvRowBytes, void *dst, size_t dstRowBytes)
	Perform YUV 4:2:0 NV12 --> RGBA conversion. More...

nvwarpResult NVWARPAPI	nvwarpMultiWarp360 (cudaStream_t stream, const nvwarpYUVRGBParams_t yuvParams, const void yuvBuffer, size_t yuvRowBytes, void rgbBuffer, size_t rgbRowBytes, cudaTextureObject_t rgbTex, uint32_t numWarps, const nvwarpParams_t paramArray, void *dstBuffers, const size_t dstRowBytes)
	Perform an optional YUV:420:NV12 --> RGBA conversion, followed by a suite of warps from that conversion. More...

Macro Definition Documentation

◆ NVWARP_VERSION_MAJOR

#define NVWARP_VERSION_MAJOR ( version ) (((v) >> 24) & 0xff)

Helper function to extract the major part of the version returned by nvwarpVersion().

Parameters

[in] version the version, as returned by nvwarpVersion().

Returns: the major part of the version number.

Definition at line 279 of file NVWarp360.h.

◆ NVWARP_VERSION_MINOR

#define NVWARP_VERSION_MINOR ( version ) (((v) >> 16) & 0xff)

Helper function to extract the minor part of the version returned by nvwarpVersion().

Parameters

[in] version the version, as returned by nvwarpVersion().

Returns: the minor part of the version number.

Definition at line 284 of file NVWarp360.h.

◆ NVWARP_VERSION_REVISION

#define NVWARP_VERSION_REVISION ( version ) (((v) >> 8) & 0xff)

Helper function to extract the revision part of the version returned by nvwarpVersion().

Parameters

[in] version the version, as returned by nvwarpVersion().

Returns: the revision part of the version number.

Definition at line 289 of file NVWarp360.h.

◆ NVWARPAPI

#define NVWARPAPI

export tag

Definition at line 31 of file NVWarp360.h.

Typedef Documentation

◆ nvwarpHandle

typedef struct nvwarpObject* nvwarpHandle

Opaque definition of a pointer to the Warp360 state.

Definition at line 250 of file NVWarp360.h.

◆ nvwarpParams_t

typedef struct nvwarpParams_t nvwarpParams_t

Parameter structure.

Parameters typedef.

Definition at line 127 of file NVWarp360.h.

◆ nvWarpResult

typedef enum nvwarpResult nvWarpResult

Error code enumerations for NVWarp360.

Error code typedef for NVWarp360.

◆ nvwarpSurface_t

typedef enum nvwarpSurface_t nvwarpSurface_t

◆ nvwarpType_t

typedef enum nvwarpType_t nvwarpType_t

Warp type enumeration.

Warp type typedef.

◆ nvwarpYUVRGBParams_t

typedef struct nvwarpYUVRGBParams_t nvwarpYUVRGBParams_t

Parameters for YUV:420:NV12 --> RGBA conversion.

Enumeration Type Documentation

◆ nvwarpResult

enum nvwarpResult

Error code enumerations for NVWarp360.

Enumerator
NVWARP_SUCCESS	The operation was successful.
NVWARP_ERR_GENERAL	An otherwise unspecified failure has occurred.
NVWARP_ERR_UNIMPLEMENTED	The requested feature has not yet been implemented.
NVWARP_ERR_DOMAIN	The coordinates are outside of the domain.
NVWARP_ERR_MISSING_PARAMETERS	Some required parameters have not been specified.
NVWARP_ERR_PARAMETER	A parameter has an invalid value.
NVWARP_ERR_INITIALIZATION	Initialization has not completed successfully.
NVWARP_ERR_CUDA_MEMORY	There is not enough CUDA memory for the operation specified.
NVWARP_ERR_CUDA_LAUNCH	CUDA was not able to launch the specified kernel.
NVWARP_ERR_CUDA_DRIVER	CUDA driver version is insufficient for CUDA runtime version.
NVWARP_ERR_CUDA_NO_KERNEL	No suitable CUDA kernel image has been found for this GPU.
NVWARP_ERR_CUDA	An otherwise unspecified error has been reported by the CUDA runtime.
NVWARP_ERR_APPROXIMATE	An accurate calculation is not available; approximation returned.
NVWARP_ERR_MAX	This makes it 32 bits.

Definition at line 45 of file NVWarp360.h.

◆ nvwarpSurface_t

enum nvwarpSurface_t

Enumerator
NVSURF_PERSPECTIVE	Perspective, projective, rectilinear.
NVSURF_FISHEYE	Fisheye, equidistant.
NVSURF_EQUIRECT	Equirectangular spherical.
NVSURF_CYLINDER	Cylindrical, panned horizontally with vertical axis.
NVSURF_ROTCYLINDER	Cylindrical, panned vertically, with horizontal axis.
NVSURF_PUSHBROOM	Simulated pushbroom. Control[0] typically in (0, 1].
NVSURF_PANINI	Panini. Control[0] typically in (0, 1].
NVSURF_STEREOGRAPHIC	Generalized Stereographic. Normal stereographic has control[0] = 1.
NVSURF_BITS	The width of the field used for each image type.
NVSURF_UNKNOWN	Unknown (currently 255).
NVSURF_MASK	The NVWARP_360 mask (currently 0xFF).
NVSURF_MAX	This makes it 32 bits.

Definition at line 64 of file NVWarp360.h.

◆ nvwarpType_t

enum nvwarpType_t

Warp type enumeration.

Enumerator
NVWARP_EQUIRECT_CYLINDER	Equirectangular to cylindrical.
NVWARP_EQUIRECT_EQUIRECT	Equirectangular to equirectangular.
NVWARP_EQUIRECT_FISHEYE	Equirectangular to fisheye.
NVWARP_EQUIRECT_PANINI	Equirectangular to Panini.
NVWARP_EQUIRECT_PERSPECTIVE	Equirectangular to perspective.
NVWARP_EQUIRECT_PUSHBROOM	Equirectangular to pushbroom.
NVWARP_EQUIRECT_STEREOGRAPHIC	Equirectangular to generalized stereographic.
NVWARP_EQUIRECT_ROTCYLINDER	Equirectangular to vertical cylindrical.
NVWARP_FISHEYE_CYLINDER	Fisheye to horizontally panned cylinder.
NVWARP_FISHEYE_EQUIRECT	Fisheye to equirectangular.
NVWARP_FISHEYE_FISHEYE	Fisheye to fisheye.
NVWARP_FISHEYE_PANINI	Fisheye to Panini.
NVWARP_FISHEYE_PERSPECTIVE	Fisheye to perspective.
NVWARP_FISHEYE_PUSHBROOM	Fisheye to pushbroom.
NVWARP_FISHEYE_ROTCYLINDER	Fisheye to vertically panned radial cylinder.
NVWARP_PERSPECTIVE_EQUIRECT	Perspective to equirectangular.
NVWARP_PERSPECTIVE_PANINI	Perspective to Panini.
NVWARP_PERSPECTIVE_PERSPECTIVE	Perspective to perspective.
NVWARP_NONE	This makes it 32 bits.

Definition at line 82 of file NVWarp360.h.

Function Documentation

◆ nvwarpComputeBoxAxialAngleRange()

nvwarpResult NVWARPAPI nvwarpComputeBoxAxialAngleRange	(	const nvwarpParams_t *	params,
		const float	srcBoundingBox[4],
		float	minMaxXY[4]
	)

Compute the angular limits on the source bounding box along the primary axes going through the center of projection.

The nvwarpParams_t must have the following fields filled in: type, srcX0, srcY0, srcFocalLen, srcDist[4];

Parameters

[in]	params	the Warp360 parameters.
[in]	srcBoundingBox	an array of length 4 for describing bounding box in source image {leftTopX, leftTopY, bottomRightX, bottomRightY}.
[out]	minMaxXY	an array of length 4, where the values {minX, maxX, minY, maxY} angles, in radians, are returned.

Returns: true if successful; otherwise false.

Note: At the moment, only fisheye, perspective and equirectangular sources are accommodated.; Even though this guarantees that this angular range contains valid pixels along the horizontal and vertical axes through the center of projection, this does not guarantee that the same holds true at the corners.

◆ nvwarpComputeDstAngularFromPixelCoordinates()

nvwarpResult NVWARPAPI nvwarpComputeDstAngularFromPixelCoordinates	(	const nvwarpHandle	han,
		uint32_t	numPts,
		const float *	pts2D,
		float *	ang2D
	)

Compute the angular coordinates {longitude, latitude} of for the given points in the destination.

Parameters

[in]	han	the Warp360 instance.
[in]	numPts	the number of points to be converted into rays.
[in]	pts2D	the array of 2D points to be transformed into 3D rays.
[out]	ang2D	the array into which the 2D angles are to be placed. NANs are returned for unsuccessful conversions.

Returns: NVWARP_SUCCESS, if the conversion was successful,; NVWARP_ERR_DOMAIN if it fails due to any coordinate being out of domain.; NVWARP_ERR_UNIMPLEMENTED if it is an unsupported warp type.

◆ nvwarpComputeDstFocalLength()

void NVWARPAPI nvwarpComputeDstFocalLength	(	nvwarpHandle	han,
		float	topAngle,
		float	bottomAngle,
		uint32_t	dstWidth,
		uint32_t	dstHeight
	)

From the vertical view angles, this sets the identical destination focal lengths, plus width and height.

The view angles are measured in the center of a symmetric view. The warp type must already be chosen before calling.

Parameters

[in,out]	han	the Warp360 instance.
[in]	topAngle	the top view angle.
[in]	bottomAngle	the bottom view angle.
[in]	dstWidth	the width of the destination.
[in]	dstHeight	the height of the destination.

Note: If (topAngle < bottomAngle), a negative focal length will result, and is not recommended.

◆ nvwarpComputeDstFocalLengths()

nvwarpResult NVWARPAPI nvwarpComputeDstFocalLengths	(	nvwarpHandle	han,
		float	topAxialAngle,
		float	botAxialAngle,
		float	leftAxialAngle,
		float	rightAxialAngle,
		uint32_t	dstWidth,
		uint32_t	dstHeight
	)

From the vertical and horizontal axial view angles, this sets the anisotropic destination focal lengths, asymmetric center of projection, width and height.

The view angles are measured through the center of projection. The warp type must already be chosen before calling.

Parameters

[in,out]	han	the Warp360 instance.
[in]	topAxialAngle	the top view angle through the center of projection.
[in]	botAxialAngle	the bottom view angle through the center of projection.
[in]	leftAxialAngle	the left view angle through the center of projection.
[in]	rightAxialAngle	the right view angle through the center of projection.
[in]	dstWidth	the width of the destination.
[in]	dstHeight	the height of the destination.

Note: If (topAngle < bottomAngle), a negative focal length will result, and is not recommended.

◆ nvwarpComputeDstPixelFromAngularCoordinates()

nvwarpResult NVWARPAPI nvwarpComputeDstPixelFromAngularCoordinates	(	const nvwarpHandle	han,
		uint32_t	numPts,
		const float *	ang2D,
		float *	pts2D
	)

Compute the pixel coordinates for the given angular coordinates {longitude, latitude} in the destination.

Parameters

[in]	han	the Warp360 instance.
[in]	numPts	the number of angle pairs to be converted into 2D points.
[in]	ang2D	the array of 2D angles to be converted into 2D points.
[out]	pts2D	the array into which the 2D points are to be placed. NANs are returned for unsuccessful conversions.

Returns: NVWARP_SUCCESS, if the conversion was successful,; NVWARP_ERR_DOMAIN if it fails due to any coordinate being out of domain.; NVWARP_ERR_UNIMPLEMENTED if it is an unsupported warp type.

◆ nvwarpComputeParamsAxialAngleRange()

nvwarpResult NVWARPAPI nvwarpComputeParamsAxialAngleRange	(	const nvwarpParams_t *	params,
		float	minMaxXY[4]
	)

Compute the angular limits on the source image along the primary axes going through the center of projection.

The nvwarpParams_t must have the following fields filled in: type, srcWidth, srcHeight, srcX0, srcY0, srcFocalLen, srcDist[4];

Parameters

[in]	params	the Warp360 parameters.
[out]	minMaxXY	an array of length 4, where the values {minX, maxX, minY, maxY} angles, in radians, are returned.

Returns: true if successful; otherwise false.

Note: At the moment, only fisheye, perspective and equirectangular sources are accommodated.; Even though this guarantees that this angular range contains valid pixels along the horizontal and vertical axes through the center of projection, this does not guarantee that the same holds true at the corners.

◆ nvwarpComputeParamsOutputResolution()

nvwarpResult NVWARPAPI nvwarpComputeParamsOutputResolution	(	nvwarpParams_t *	params,
		float	aspectRatio
	)

Compute the output resolution that matches the source focal length and desired aspect ratio.

The dimensions are computed from the source focal length, so it must already have the appropriate value.

Parameters

[in,out]	params	the Warp360 parameters.
[in]	aspectRatio	the ratio of width/height for the output.

Returns: true if the dstWidth and dstHeight were updated successfully, false if not.

Note: This API provides a suggestion that should be tweaked to meet the needs of the application. Enlarging the dimensions will produce a bigger image, but not introduce any new details. Reducing the dimensions will not only produce a smaller image, but will lose more details as it shrinks. It is not recommended to reduce these dimensions smaller than 1/3, or aliasing will be introduced.

◆ nvwarpComputeParamsSrcFocalLength()

nvwarpResult NVWARPAPI nvwarpComputeParamsSrcFocalLength	(	nvwarpParams_t *	params,
		float	angle,
		float	radius
	)

Compute and set the srcFocalLen given the warp type and srcDist distortion coefficients, plus an angle and corresponding radius.

The srcDist[] coefficients must be initialized prior to the call (suggest {0,0,0,0} for ideal lens). The focal length converts from angles to pixels at the center of projection, and is a measure of spherical image resolution also known as angular pixel density (in pixels/radian). It is only as accurate as the parameters that were supplied. It can be adjusted by hand, for example to straighten out lines that appeared bowed, but distortion does that as well.

Parameters

[in,out]	params	the Warp360 parameters to be set.
[in]	angle	the angle in radians.
[in]	radius	the radius, in pixels, corresponding to the angle above.

Returns: true if the srcFocalLen was computed successfully, false otherwise.

Note: The focal length is one of the properties of the source, and this API provides a way to convert angle and distortion measurements into a focal length. Once calibrated for a given lens and camera, it is fixed, and not considered to be a warp control parameter.; The focal length can also be acquired from the image EXIF data without the use of this API. In particular, the focalLength tag (37386) yields the focal length in millimeters. Then the FocalPlaneXResolution tag (41486), the FocalPlaneXResolution tag (41487), and FocalPlaneResolutionUnit tag (41488) can be used to compute the X and Y focal lengths by converting mm to pixels. If the X and Y focal lengths differ, it is suggested to use the geometric average focLen = sqrt(focLenX * focLenY).

◆ nvwarpComputeSrcAngularFromPixelCoordinates()

nvwarpResult NVWARPAPI nvwarpComputeSrcAngularFromPixelCoordinates	(	const nvwarpHandle	han,
		uint32_t	numPts,
		const float *	pts2D,
		float *	ang2D
	)

Compute the angular coordinates {longitude, latitude} of for the given points in the source.

Parameters

[in]	han	the Warp360 instance.
[in]	numPts	the number of 2D points to be converted into angles.
[in]	pts2D	the array of 2D points to be transformed into 2D angles.
[out]	ang2D	the array into which the 2D angles are to be placed. NANs are returned for unsuccessful conversions.

Returns: NVWARP_SUCCESS, if the conversion was successful,; NVWARP_ERR_DOMAIN if it fails due to any coordinate being out of domain.; NVWARP_ERR_UNIMPLEMENTED if it is an unsupported warp type.

◆ nvwarpComputeSrcFocalLength()

nvwarpResult NVWARPAPI nvwarpComputeSrcFocalLength	(	nvwarpHandle	han,
		nvwarpType_t	warpType,
		float	radius,
		float	angle,
		float	dist[5]
	)

Compute the source focal length, primarily from a radius and corresponding angle (e.g.

fov/2), and the warp type. The distortion also plays a part in with perspective and fisheye sources. The focal length converts from angles to pixels at the center of projection, and is a measure of spherical image resolution also known as angular pixel density (in pixels/radian). It is only as accurate as the parameters that were supplied. It can be adjusted by hand, for example to straighten out lines that appeared bowed, but distortion does that as well. This will set all of these parameters: srcFocalLengthX srcFocalLengthY warp type distortion

Parameters

[in,out]	han	the Warp360 instance.
[in]	warpType	the warp type.
[in]	radius	a radius, i.e. distance from the principal point, e.g. to an edge.
[in]	angle	the angle corresponding to the above radius, i.e. angular distance from the optical axis.
[in]	dist	the distortion coefficients. (NULL implies (0,0,0,0,0).

Note: The focal length is one of the properties of the source, and this API provides a way to convert angle and distortion measurements into a focal length. Once calibrated for a given lens and camera, it is fixed, and not considered to be a warp control parameter.; The focal length can also be acquired from the image EXIF data without the use of this API. In particular, the focalLength tag (37386) yields the focal length in millimeters. Then the FocalPlaneXResolution tag (41486), the FocalPlaneXResolution tag (41487), and FocalPlaneResolutionUnit tag (41488) can be used to compute the X and Y focal lengths by converting mm to pixels. If the X and Y focal lengths differ, it is suggested to use the geometric average focLen = sqrt(focLenX * focLenY).

◆ nvwarpComputeSrcPixelFromAngularCoordinates()

nvwarpResult NVWARPAPI nvwarpComputeSrcPixelFromAngularCoordinates	(	const nvwarpHandle	han,
		uint32_t	numPts,
		const float *	ang2D,
		float *	pts2D
	)

Compute the pixel coordinates for the given angular coordinates {longitude, latitude} in the source.

Parameters

[in]	han	the Warp360 instance.
[in]	numPts	the number of angle pairs to be converted into 2D points.
[in]	ang2D	the array of 2D angles to be converted into 2D points.
[out]	pts2D	the array into which the 2D points are to be placed. NANs are returned for unsuccessful conversions.

Returns: NVWARP_SUCCESS, if the conversion was successful,; NVWARP_ERR_DOMAIN if it fails due to any coordinate being out of domain.; NVWARP_ERR_UNIMPLEMENTED if it is an unsupported warp type.

◆ nvwarpComputeYCbCr2RgbMatrix()

void NVWARPAPI nvwarpComputeYCbCr2RgbMatrix	(	nvwarpYUVRGBParams_t *	p,
		uint32_t	matrix_coefficients,
		uint32_t	video_full_range_flag,
		uint32_t	bit_depth,
		uint32_t	normalized_input,
		uint32_t	normalized_output
	)

General method to compute all values except for {width, height, cLocation}.

Parameters

[out]	p	the location of the parameters that will be set by this method.
[in]	matrix_coefficients	One of {709, 1, 2} for BT.709, {601, 5, 6} for BT.601, {2020, 9, 10} for BT.2020, {4} for FCC, {240, 7} FOR SMPTE 240M.
[in]	video_full_range_flag	0 for standard video range (16-240), 1 for full range (0-255).
[in]	bit_depth	8 is the only depth that is supported by nvwarpConvertYUVNV12ToRGBA().
[in]	normalized_input	1 if the input is normalized, 0 if not.
[in]	normalized_output	1 if the output is normalized, 0 if not.

◆ nvwarpConvertTransformBetweenYUpandYDown()

void NVWARPAPI nvwarpConvertTransformBetweenYUpandYDown	(	const float	fr[9],
		float	to[9]
	)

Invert the sense of the Y- and Z-axes in the specified transformation, keeping the X axis pointing in the same direction, i.e.

converting between {X-right, Y-up, Z-in} and {X-right, Y-down, Z-out}.

Parameters

[in]	fr	the initial transformation to be converted.
[out]	to	a place to store the converted transformation (can the same as fr).

◆ nvwarpConvertYUVNV12ToRGBA()

nvwarpResult NVWARPAPI nvwarpConvertYUVNV12ToRGBA	(	cudaStream_t	stream,
		const nvwarpYUVRGBParams_t *	params,
		const void *	yuv,
		size_t	yuvRowBytes,
		void *	dst,
		size_t	dstRowBytes
	)

Perform YUV 4:2:0 NV12 --> RGBA conversion.

Parameters

[in]	stream	The stream on which the computation is to be performed.
[in]	params	The parameters controlling the YUV-->RGB conversion; typically set with YUVRGBParams.computeMatrix().
[in]	yuv	Pointer to the YV CUDA pitched memory buffer.
[in]	yuvRowBytes	Byte stride between pixels vertically in the luminance (and chrominance) of YUV.
[in]	dst	Pointer to the RGBA CUDA pitched memory buffer.
[in]	dstRowBytes	Byte stride between pixels vertically in the RGBA.

Returns: NVWARP_SUCCESS if successful.

◆ nvwarpCreateInstance()

nvwarpResult NVWARPAPI nvwarpCreateInstance ( nvwarpHandle * han )

Constructor for a new instance of a Warp360 object.

Parameters

[out] han a place to store the new instance of Warp360 object.

Returns: NVWARP_SUCCESS if successful.

◆ nvwarpDestroyInstance()

void NVWARPAPI nvwarpDestroyInstance ( nvwarpHandle han )

Destructor for a Warp360 object.

Parameters

[in] han handle to a Warp360 object. Can be NULL.

◆ nvwarpDstFromRay()

nvwarpResult NVWARPAPI nvwarpDstFromRay	(	const nvwarpHandle	han,
		uint32_t	numRays,
		const float *	rays3D,
		float *	pts2D
	)

Convert rays into destination coordinates.

The rays do not need to be normalized.

Parameters

[in]	han	the Warp360 instance.
[in]	numRays	the number of rays to be converted into points.
[in]	rays3D	the array of 3D rays to be transformed into 2D points.
[out]	pts2D	the array into which the 2D points are to be placed. NANs are returned for unsuccessful conversions.

Returns: NVWARP_SUCCESS, if the conversion was successful,; NVWARP_ERR_DOMAIN if it fails due to being out of domain.; NVWARP_ERR_UNIMPLEMENTED if it is an unsupported warp type.

◆ nvwarpDstToRay()

nvwarpResult NVWARPAPI nvwarpDstToRay	(	const nvwarpHandle	han,
		uint32_t	numPts,
		const float *	pts2D,
		float *	rays3D
	)

Convert destination coordinates into normalized rays.

Parameters

[in]	han	the Warp360 instance.
[in]	numPts	the number of points to be converted into rays.
[in]	pts2D	the array of 2D points to be transformed into 3D rays.
[out]	rays3D	the array into which the 3D rays are to be placed. NANs are returned for unsuccessful conversions.

Returns: NVWARP_SUCCESS, if the conversion was successful,; NVWARP_ERR_DOMAIN if it fails due to any coordinate being out of domain.; NVWARP_ERR_UNIMPLEMENTED if it is an unsupported warp type.

◆ nvwarpErrorStringFromCode()

const char* NVWARPAPI nvwarpErrorStringFromCode ( nvwarpResult err )

Get the error string corresponding to the given result code.

Parameters

[in] err the error code.

Returns: the C-string corresponding to the given error code.

◆ nvwarpGetBlock()

void NVWARPAPI nvwarpGetBlock	(	const nvwarpHandle	han,
		dim3 *	dim_block
	)

Get the current value of the CUDA block size.

Parameters

[in]	han	the Warp360 instance.
[out]	dim_block	pointer to a location where the block size is to be stored.

◆ nvwarpGetControl()

float NVWARPAPI nvwarpGetControl	(	const nvwarpHandle	han,
		uint32_t	index
	)

Get the value for the control parameters.

Parameters

[in]	han	the Warp360 instance.
[in]	index	the index of the control parameter to retrieve.

Returns: the value of the specified control parameter, or NaN if there is no such parameter (i.e. index > 0 at the moment).

Note: Only control[0] is implemented, but only for a few warps.

◆ nvwarpGetDistortion()

void NVWARPAPI nvwarpGetDistortion	(	const nvwarpHandle	han,
		float	d[5]
	)

Get the distortion coefficients.

Note: an array of 5 must be supplied, even though only 4 are currently used. The fifth is reserved to implement the full Brown model for perspective images.

Parameters

[in]	han	the Warp360 instance.
[out]	d	the array where the distortion coefficients are to be stored.

◆ nvwarpGetDstFocalLength()

float NVWARPAPI nvwarpGetDstFocalLength	(	const nvwarpHandle	han,
		float *	fy
	)

Get one or both destination focal lengths.

In most cases, only a single focal length will be used, so NULL would be specified for the second parameter.

Parameters

[in]	han	the Warp360 instance.
[out]	fy	a place to store the Y focal length (can be NULL if it is not desired).

Returns: the destination focal length.

◆ nvwarpGetDstPrincipalPoint()

void NVWARPAPI nvwarpGetDstPrincipalPoint	(	const nvwarpHandle	han,
		float	xy[2],
		uint32_t	relToCenter
	)

Get the destination principal point.

Parameters

[in]	han	the Warp360 instance.
[out]	xy	a place to store the destination principal point.
[in]	relToCenter	0 = relative to the upper left corner of the image, 1 = relative to the center of the image.

◆ nvwarpGetDstWidthHeight()

void NVWARPAPI nvwarpGetDstWidthHeight	(	const nvwarpHandle	han,
		uint32_t	wh[2]
	)

Get the destination width and height.

Parameters

[in]	han	the Warp360 instance.
[out]	wh	an array in which to store the width and height.

◆ nvwarpGetParams()

void NVWARPAPI nvwarpGetParams	(	const nvwarpHandle	han,
		nvwarpParams_t *	params
	)

Get the current values of the warp parameters.

Parameters

[in]	han	the Warp360 instance.
[out]	params	pointer to the location where the parameters are to be stored.

Note: An equivalent series of rotation angles and axes may be returned instead of the one supplied; it still results in the same rotation. In particular, "YXZ", "ZXY" and "ZXZ" are returned as given, and all else are returned as "YXZ".

◆ nvwarpGetPixelPhase()

uint32_t NVWARPAPI nvwarpGetPixelPhase ( const nvwarpHandle han )

Get the pixel phase.

Parameters

[in] han the Warp360 instance.

Returns: 0 if pixels are sampled on the integers (default), 1 if pixels are sampled on the integers-plus-one-half.

◆ nvwarpGetRotation()

void NVWARPAPI nvwarpGetRotation	(	const nvwarpHandle	han,
		float	R[9]
	)

Get the rotation matrix.

This is one in which the Y-axis is directed downward, and the Z axis out.

Parameters

[in]	han	the Warp360 instance.
[out]	R	a place to store the current rotation matrix.

◆ nvwarpGetSrcFocalLength()

float NVWARPAPI nvwarpGetSrcFocalLength	(	const nvwarpHandle	han,
		float *	fy
	)

Get one or both source focal lengths.

In most cases, there will only be one focal length, so this will be called with NULL as the second parameter.

Parameters

[in]	han	the Warp360 instance.
[out]	fy	a place to store the Y focal length. (can be NULL if only one focal length is desired).

Returns: the X source focal length.

◆ nvwarpGetSrcPrincipalPoint()

void NVWARPAPI nvwarpGetSrcPrincipalPoint	(	const nvwarpHandle	han,
		float	xy[2],
		uint32_t	relToCenter
	)

Get the source principal point.

Parameters

[in]	han	the Warp360 instance.
[out]	xy	a place to store the source principal point.
[in]	relToCenter	zero = relative to the upper left corner of the image, nonzero = relative to the center of the image.

◆ nvwarpGetSrcRadius()

float NVWARPAPI nvwarpGetSrcRadius ( const nvwarpHandle han )

Get the source fisheye clipping radius.

Parameters

[in] han the Warp360 instance.

Returns: the fisheye clipping radius. Zero indicates no circular clipping.

◆ nvwarpGetSrcWidthHeight()

void NVWARPAPI nvwarpGetSrcWidthHeight	(	const nvwarpHandle	han,
		uint32_t	wh[2]
	)

Get the source image dimensions.

Parameters

[in]	han	the Warp360 instance.
[out]	wh	a place to store the source width (wh[0]) and height (wh[1]).

◆ nvwarpGetUserData()

void* NVWARPAPI nvwarpGetUserData ( nvwarpHandle han )

Get the current value of the user data pointer.

Parameters

[in] han the Warp360 instance.

Returns: the current value of the user data pointer.

◆ nvwarpGetWarpType()

nvwarpType_t NVWARPAPI nvwarpGetWarpType ( const nvwarpHandle han )

Get the type of the warp.

Parameters

[in] han the Warp360 instance.

Returns: the type of the warp.

◆ nvwarpInitParams()

void NVWARPAPI nvwarpInitParams ( nvwarpParams_t * params )

Initialize nvwarpParams_t to defaults or NaN if a particular parameter must be supplied.

Parameters

[out] params the parameter block to initialize.

◆ nvwarpInverseWarpCoordinates()

nvwarpResult NVWARPAPI nvwarpInverseWarpCoordinates	(	const nvwarpHandle	han,
		uint32_t	numPts,
		const float *	inPtsXY,
		float *	outPtsXY
	)

Transform coordinates from the destination space to the source space.

This works in-place.

Parameters

[in]	han	the Warp360 instance.
[in]	numPts	the number of points to be transformed.
[in]	inPtsXY	an array of 2D points to be transformed.
[out]	outPtsXY	a 2D point array of where the transformed 2D points are to be placed. This can be the same as inPtsXY.

Returns: NVWARP_SUCCESS, if the conversion was successful,; NVWARP_ERR_DOMAIN if it fails due to any coordinate being out of domain.; NVWARP_ERR_UNIMPLEMENTED if it is an unsupported warp type.

Note: Tangential distortion is implemented for perspective.

◆ nvwarpMultiWarp360()

nvwarpResult NVWARPAPI nvwarpMultiWarp360	(	cudaStream_t	stream,
		const nvwarpYUVRGBParams_t *	yuvParams,
		const void *	yuvBuffer,
		size_t	yuvRowBytes,
		void *	rgbBuffer,
		size_t	rgbRowBytes,
		cudaTextureObject_t	rgbTex,
		uint32_t	numWarps,
		const nvwarpParams_t *	paramArray,
		void **	dstBuffers,
		const size_t *	dstRowBytes
	)

Perform an optional YUV:420:NV12 --> RGBA conversion, followed by a suite of warps from that conversion.

This uses an array of parameter blocks.

Parameters

[in]	stream	Stream on which to perform this computation.
[in]	yuvParams	Parameters for the YUV-->RGB conversion (can be NULL).
[in]	yuvBuffer	The buffer containing the YUV data in 420 NV12 format.
[in]	yuvRowBytes	The byte stride between luminance (and chroma) pixels vertically.
[in]	rgbBuffer	The buffer where the YUV-->RGB conversion is to be placed.
[in]	rgbRowBytes	The byte stride between RGBA pixels vertically.
[in]	rgbTex	The texture associated with the RGB buffer, initialized appropriately.
[in]	numWarps	The number of warps to be executed on using the RGB buffer texture as a source.
[in]	paramArray	The array of parameter blocks for each warp.
[out]	dstBuffers	The array of pointers to the destination buffers.
[in]	dstRowBytes	The array of byte strides between pixels vertically, one for each warp.

Returns: NVWARP_SUCCESS if successful.

◆ nvwarpSetBlock()

void NVWARPAPI nvwarpSetBlock	(	nvwarpHandle	han,
		dim3	dim_block
	)

Set the CUDA block size.

Parameters

[in,out]	han	the Warp360 instance.
[in]	dim_block	the desired block size (default 8x8).

◆ nvwarpSetControl()

void NVWARPAPI nvwarpSetControl	(	nvwarpHandle	han,
		uint32_t	index,
		float	control
	)

Set a control parameter.

Most warps do not have one. At the current time, no warps have more than 1 control parameter.

Parameters

[in,out]	han	the Warp360 instance.
[in]	index	the index of the control to be set.
[in]	control	the desired control value.

Note: If a particular warp does not use a control parameter, it is ignored.

◆ nvwarpSetDistortion()

void NVWARPAPI nvwarpSetDistortion	(	nvwarpHandle	han,
		const float	d[5]
	)

Set the distortion coefficients.

Parameters

[in,out]	han	the Warp360 instance.
[in]	d	the list of distortion coefficients. Though only 4 are used at the moment, 5 are anticipated to be used to accommodate tangential distortion in the Brown perspective distortion model. For future compatibility, set d[3] = d[4] = 0 for perspective and d[4] = 0 for fisheye. If NULL is supplied for d, all coefficients are set to zero.

◆ nvwarpSetDstFocalLengths()

void NVWARPAPI nvwarpSetDstFocalLengths	(	nvwarpHandle	han,
		float	fl,
		float	fy
	)

Set the destination focal length.

Typically, the same focal length is used for X and Y, but these can be different, if a second focal length is supplied. Focal length is a measure of the angular pixel density (in pixels/radian) at the principal point, so the effect of different focal lengths is anisotropic sampling, or rectangular rather than square pixels. To keep the same magnification, set the destination focal length equal to the source focal length. To zoom in by a factor of 2, double the focal length. Be careful when decreasing the focal length to avoid aliasing; you are probably safe down to a factor of 1/2, but you are most certainly going to manifest aliasing when going smaller than a factor of 1/3.

Parameters

[in,out]	han	the Warp360 instance.
[in]	fl	the desired X focal length.
[in]	fy	the desired Y focal length. If zero, it is set to be identical to the X focal length.

Note: Negative focal lengths have the effect of reflection, but are not recommended.

◆ nvwarpSetDstPrincipalPoint()

void NVWARPAPI nvwarpSetDstPrincipalPoint	(	nvwarpHandle	han,
		const float	xy[2],
		uint32_t	relToCenter
	)

Set the destination principal point.

Parameters

[in,out]	han	the Warp360 instance.
[in]	xy	the principal point. NULL implies (0,0).
[in]	relToCenter	zero = the principal point is specified relative to the upper left corner of the image; nonzero = the principal point is specified relative to the center of the image.

Note: The Y axis is always considered to point downward.; The destination width and height must be specified prior to calling nvwarpSetDstPrincipalPoint().; A good default is nvwarpSetDstPrincipalPoint(han, NULL, 1);

◆ nvwarpSetDstWidthHeight()

void NVWARPAPI nvwarpSetDstWidthHeight	(	nvwarpHandle	han,
		uint32_t	w,
		uint32_t	h
	)

Set the destination width and height.

Parameters

[in,out]	han	the Warp360 instance.
[in]	w	the desired destination width.
[in]	h	the desired destination height.

◆ nvwarpSetEulerRotation()

void NVWARPAPI nvwarpSetEulerRotation	(	nvwarpHandle	han,
		const float *	angles,
		const char *	axes
	)

Specify the view rotation, using a list of angles and their respective axes of rotation.

The image is considered to be straight ahead, and the sequence of rotations are applied to the viewer (camera). Alternatively one could maintain the camera facing forward, and instead rotate the image to embed it into 3D, by supplying the angles and axes in reverse order. Upward is the direction of positive rotation about the rightward-pointing X axis, Rightward is the direction of positive rotation about the downward-pointing Y axis, and Clockwise is the direction of positive rotation about the outward-pointing Z axis.

Parameters

[in,out]	han	the Warp360 instance.
[in]	angles	a list of angles, typically 3 for traditional Euler angles, but can be any size greater than 0.
[in]	axes	the list of axes of rotation: upper-case 'X', 'Y', and 'Z' for the positive X-, Y- and Z-axes, and lower-case 'x', 'y', and 'z' for the negative X-, Y-, and Z- axes. The same axis may appear more than once, e.g. "ZXZ". This specification is for a coordinate system where the Y-axis is down and the Z-axis is out. For a coordinate system where Y goes up and Z comes in, invert the case of all 'Y' and 'Z' axis specifications. This string is 0-terminated, like any C-string; the length of the string determines how many rotations are concatenated.

◆ nvwarpSetParams()

nvwarpResult NVWARPAPI nvwarpSetParams	(	nvwarpHandle	han,
		const nvwarpParams_t *	params
	)

Set parameters for a warp.

Parameters

[out]	han	the Warp360 instance.
[in]	params	pointer to the desired parameters for the warp. NULL initializes the parameters to NaN or default values as appropriate.

Returns: NVWARP_SUCCESS if successful.

◆ nvwarpSetPixelPhase()

void NVWARPAPI nvwarpSetPixelPhase	(	nvwarpHandle	han,
		uint32_t	phase
	)

Set the pixel phase.

Parameters

[in,out]	han	the Warp360 instance.
[in]	phase	zero = pixels are sampled on the integers, with valid pixel coordinates [0, width-1]. nonzero = pixels are sampled on the integers-plus-one-half, with valid pixel coordinates [0.5, width-0.5].

◆ nvwarpSetRotation()

void NVWARPAPI nvwarpSetRotation	(	nvwarpHandle	han,
		const float	R[9]
	)

Specify the rotation.

By suitable construction, this can be used either as a projection (viewing) matrix, or an embedding (placement) matrix. The rotations are specified in a coordinate system where Y is down and Z is out. You can use the function convertTransformBetweenYUpandYDown() to convert representations to a coordinate system where Y is up and Z is in. The same function is used in either direction of conversion, and is used both for a projection or embedding matrix.

Parameters

[in,out]	han	the Warp360 instance.
[in]	R	the rotation transformation. This should be an orthonormal transformation, but is not enforced. NULL implies identity.

◆ nvwarpSetSrcFocalLengths()

void NVWARPAPI nvwarpSetSrcFocalLengths	(	nvwarpHandle	han,
		float	fl,
		float	fy
	)

Set the source focal length.

Typically, the same focal length is used for X and Y, but these can be different, if a second focal length is supplied. Focal length is a measure of the angular pixel density at the principal point, so the effect of different focal lengths is anisotropic sampling, or rectangular rather than square pixels.

Parameters

[in,out]	han	the Warp360 instance.
[in]	fl	the X focal length.
[in]	fy	the Y focal length; if zero, the X focal length is used for Y as well.

Note: Negative focal lengths will cause reflection, but are not recommended.

◆ nvwarpSetSrcPrincipalPoint()

void NVWARPAPI nvwarpSetSrcPrincipalPoint	(	nvwarpHandle	han,
		const float	xy[2],
		uint32_t	relToCenter
	)

Specify the principal point of the source image.

Parameters

[in,out]	han	the Warp360 instance.
[in]	xy	the principal point. NULL implies (0,0).
[in]	relToCenter	zero = the principal point is specified relative to the upper left corner of the image; nonzero = the principal point is specified relative to the center of the image.

Note: The Y axis is always considered to point downward.; The source width and height must be specified prior to calling nvwarpSetSrcPrincipalPoint().; A good default is nvwarpSetDstPrincipalPoint(han, NULL, 1);

◆ nvwarpSetSrcRadius()

void NVWARPAPI nvwarpSetSrcRadius	(	nvwarpHandle	han,
		float	r
	)

set the source fisheye clipping radius.

Parameters

[in,out]	han	the Warp360 instance.
[in]	r	the fisheye clipping radius. No clipping is specified by r<=0.

Note: this is not [yet] used for circular clipping.

◆ nvwarpSetSrcWidthHeight()

void NVWARPAPI nvwarpSetSrcWidthHeight	(	nvwarpHandle	han,
		uint32_t	w,
		uint32_t	h
	)

Set the source dimensions.

Parameters

[in,out]	han	the Warp360 instance.
[in]	w	the source width, in pixels.
[in]	h	the source height, in pixels.

◆ nvwarpSetUserData()

void NVWARPAPI nvwarpSetUserData	(	nvwarpHandle	han,
		void *	userData
	)

Set the user data pointer.

Parameters

[in,out]	han	the Warp360 instance.
[in]	userData	pointer to the user data.

◆ nvwarpSetWarpType()

nvwarpResult NVWARPAPI nvwarpSetWarpType	(	nvwarpHandle	han,
		nvwarpType_t	type
	)

Set the warp type.

Parameters

[in,out]	han	the Warp360 instance.
[in]	type	the warp type.

Returns: NVWARP_SUCCESS if successful,; NVWARP_ERR_UNIMPLEMENTED if the specified warp type is unimplemented or unknown.

◆ nvwarpSrcFromRay()

nvwarpResult NVWARPAPI nvwarpSrcFromRay	(	const nvwarpHandle	han,
		uint32_t	numRays,
		const float *	rays3D,
		float *	pts2D
	)

Convert rays into source coordinates.

The rays do not need to be normalized.

Parameters

[in]	han	the Warp360 instance.
[in]	numRays	the number of rays to be converted into points.
[in]	rays3D	the array of 3D rays to be transformed into 2D points.
[out]	pts2D	the array into which the 2D points are to be placed. NANs are returned for unsuccessful conversions.

Returns: NVWARP_SUCCESS, if the conversion was successful,; NVWARP_ERR_DOMAIN if it fails due to being out of domain.; NVWARP_ERR_UNIMPLEMENTED if it is an unsupported warp type.

◆ nvwarpSrcToRay()

nvwarpResult NVWARPAPI nvwarpSrcToRay	(	const nvwarpHandle	han,
		uint32_t	numPts,
		const float *	pts2D,
		float *	rays3D
	)

Convert source coordinates into normalized rays.

Parameters

[in]	han	the Warp360 instance.
[in]	numPts	the number of points to be converted into rays.
[in]	pts2D	the array of 2D points to be transformed into 3D rays.
[out]	rays3D	the array into which the 3D rays are to be placed. NANs are returned for unsuccessful conversions.

Returns: NVWARP_SUCCESS, if the conversion was successful,; NVWARP_ERR_DOMAIN if it fails due to being out of domain.; NVWARP_ERR_APPROXIMATE if tangential distortion is used for a perspective source, due to lack of implementation; only the radial distortion is accommodated.; NVWARP_ERR_UNIMPLEMENTED if it is an unsupported warp type.

Note: The nvwarpSrcToRay(), nvwarpDstToRay(), nvwarpSrcFromRay() and nvwarpDstFromRay() functions can be used to warp coordinates as follows:
float srcPt[2], dstPt[2], srcRay[3], dstRay[3], M[9];

...

nvwarpGetRotation(warper, M);

nvwarpSrcToRay(warper, 1, srcPt, srcRay); // Warp

dstRay[0] = M[0] * srcRay[0] + M[1] * srcRay[1] + M[2] * srcRay[2];

dstRay[1] = M[3] * srcRay[0] + M[4] * srcRay[1] + M[5] * srcRay[2];

dstRay[2] = M[6] * srcRay[0] + M[7] * srcRay[1] + M[8] * srcRay[2];

nvwarpDstFromRay(warper, 1, dstRay, dstPt);

...

nvwarpDstToRay(warper, 1, dstPt, dstRay); // Inverse Warp

srcRay[0] = M[0] * dstRay[0] + M[3] * dstRay[1] + M[6] * dstRay[2];

srcRay[1] = M[1] * dstRay[0] + M[4] * dstRay[1] + M[7] * dstRay[2];

srcRay[2] = M[2] * dstRay[0] + M[5] * dstRay[1] + M[8] * dstRay[2];

nvwarpSrcFromRay(warper, 1, srcRay, srcPt);

◆ nvwarpVersion()

uint32_t NVWARPAPI nvwarpVersion ( )

Get the version number, encoded as (major_version * 16777216u + minor * 65536u + revision * 256u).

For example, version 1.0.3 is represented as 0x01000300 = 16777984, version 2.0.0 is represented as 0x00090000 = 536870912, Typically, the major version is incremented when the API, other major changes, or backwards incompatibilities occur, the minor version is incremented when minor functionality changes such as new projections are added, the revision is incremented when a bug fix has been released. At most 256 revisions can occur before it is necessary to increment the minor version number, and at most 256 minor versions can occur before it is necessary to increment the major version number. The LS byte is for internal use only and should be 0. The macros below can be useful to extract the different parts of the version number.

Returns: the version number.

◆ nvwarpWarpBuffer()

nvwarpResult NVWARPAPI nvwarpWarpBuffer	(	const nvwarpHandle	han,
		cudaStream_t	stream,
		cudaTextureObject_t	srcTex,
		void *	dstAddr,
		size_t	dstRowBytes
	)

Warp an image texture to a buffer.

Parameters

[in]	han	the Warp360 instance.
[in]	stream	the stream on which to execute the warp.
[in]	srcTex	the source texture.
[out]	dstAddr	the destination buffer address.
[in]	dstRowBytes	the byte stride between pixels in the buffer vertically.

Returns: NVWARP_SUCCESS if successful.

◆ nvwarpWarpCoordinates()

nvwarpResult NVWARPAPI nvwarpWarpCoordinates	(	const nvwarpHandle	han,
		uint32_t	numPts,
		const float *	inPtsXY,
		float *	outPtsXY
	)

Transform coordinates from the input space to the output space.

This works in-place.

Parameters

[in]	han	the Warp360 instance.
[in]	numPts	the number of points to be transformed.
[in]	inPtsXY	an array of 2D points to be transformed.
[out]	outPtsXY	a 2D point array of where the transformed 2D points are to be placed. This can be the same as inPtsXY.

Returns: NVWARP_SUCCESS, if the conversion was successful,; NVWARP_ERR_DOMAIN if it fails due to any coordinate being out of domain.; NVWARP_ERR_APPROXIMATE if tangential distortion is used for a perspective source, due to lack of implementation; only the radial distortion is accommodated.; NVWARP_ERR_UNIMPLEMENTED if it is an unsupported warp type.

◆ nvwarpWarpSurface()

nvwarpResult NVWARPAPI nvwarpWarpSurface	(	const nvwarpHandle	han,
		cudaStream_t	stream,
		cudaTextureObject_t	srcTex,
		cudaSurfaceObject_t	dstSurface
	)

Warp an image texture to a surface.

Parameters

[in]	han	the Warp360 instance.
[in]	stream	the stream on which to execute the warp.
[in]	srcTex	the source texture.
[out]	dstSurface	the destination surface.

Returns: NVWARP_SUCCESS if successful.


NVIDIA DeepStream SDK API Reference	7.0 Release

NVIDIA DeepStream SDK API Reference

7.0 Release

Detailed Description

Data Structures

Macros

Typedefs

Enumerations

Functions

Macro Definition Documentation

◆ NVWARP_VERSION_MAJOR

◆ NVWARP_VERSION_MINOR

◆ NVWARP_VERSION_REVISION

◆ NVWARPAPI

Typedef Documentation

◆ nvwarpHandle

◆ nvwarpParams_t

◆ nvWarpResult

◆ nvwarpSurface_t

◆ nvwarpType_t

◆ nvwarpYUVRGBParams_t

Enumeration Type Documentation

◆ nvwarpResult

◆ nvwarpSurface_t

◆ nvwarpType_t

Function Documentation

◆ nvwarpComputeBoxAxialAngleRange()

◆ nvwarpComputeDstAngularFromPixelCoordinates()

◆ nvwarpComputeDstFocalLength()

◆ nvwarpComputeDstFocalLengths()

◆ nvwarpComputeDstPixelFromAngularCoordinates()

◆ nvwarpComputeParamsAxialAngleRange()

◆ nvwarpComputeParamsOutputResolution()

◆ nvwarpComputeParamsSrcFocalLength()

◆ nvwarpComputeSrcAngularFromPixelCoordinates()

◆ nvwarpComputeSrcFocalLength()

◆ nvwarpComputeSrcPixelFromAngularCoordinates()

◆ nvwarpComputeYCbCr2RgbMatrix()

◆ nvwarpConvertTransformBetweenYUpandYDown()

◆ nvwarpConvertYUVNV12ToRGBA()

◆ nvwarpCreateInstance()

◆ nvwarpDestroyInstance()

◆ nvwarpDstFromRay()

◆ nvwarpDstToRay()

◆ nvwarpErrorStringFromCode()

◆ nvwarpGetBlock()

◆ nvwarpGetControl()

◆ nvwarpGetDistortion()

◆ nvwarpGetDstFocalLength()

◆ nvwarpGetDstPrincipalPoint()

◆ nvwarpGetDstWidthHeight()

◆ nvwarpGetParams()

◆ nvwarpGetPixelPhase()

◆ nvwarpGetRotation()

◆ nvwarpGetSrcFocalLength()

◆ nvwarpGetSrcPrincipalPoint()

◆ nvwarpGetSrcRadius()

◆ nvwarpGetSrcWidthHeight()

◆ nvwarpGetUserData()

◆ nvwarpGetWarpType()

◆ nvwarpInitParams()

◆ nvwarpInverseWarpCoordinates()

◆ nvwarpMultiWarp360()

◆ nvwarpSetBlock()

◆ nvwarpSetControl()

◆ nvwarpSetDistortion()

◆ nvwarpSetDstFocalLengths()

◆ nvwarpSetDstPrincipalPoint()

◆ nvwarpSetDstWidthHeight()

◆ nvwarpSetEulerRotation()

◆ nvwarpSetParams()

◆ nvwarpSetPixelPhase()

◆ nvwarpSetRotation()

◆ nvwarpSetSrcFocalLengths()

◆ nvwarpSetSrcPrincipalPoint()

◆ nvwarpSetSrcRadius()

◆ nvwarpSetSrcWidthHeight()

◆ nvwarpSetUserData()

◆ nvwarpSetWarpType()

◆ nvwarpSrcFromRay()

◆ nvwarpSrcToRay()