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// Copyright (c) 2017-2023 California Institute of Technology ("Caltech"). U.S.
// Government sponsorship acknowledged. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
#include "types.h"
#include "image.h"
// The reference implementation in Python is _rectified_resolution_python() in
// stereo.py
//
// The Python wrapper is mrcal.rectified_resolution(), and the documentation is
// in the docstring of that function
bool mrcal_rectified_resolution( // output and input
// > 0: use given value
// < 0: autodetect and scale
double* pixels_per_deg_az,
double* pixels_per_deg_el,
// input
const mrcal_lensmodel_t* lensmodel,
const double* intrinsics,
const mrcal_point2_t* azel_fov_deg,
const mrcal_point2_t* azel0_deg,
const double* R_cam0_rect0,
const mrcal_lensmodel_type_t rectification_model_type);
// The reference implementation in Python is _rectified_system_python() in
// stereo.py
//
// The Python wrapper is mrcal.rectified_system(), and the documentation is in
// the docstring of that function
bool mrcal_rectified_system2(// output
unsigned int* imagersize_rectified,
double* fxycxy_rectified,
double* rt_rect0_ref,
double* baseline,
// input, output
// > 0: use given value
// < 0: autodetect and scale
double* pixels_per_deg_az,
double* pixels_per_deg_el,
// input, output
// if(..._autodetect) { the results are returned here }
mrcal_point2_t* azel_fov_deg,
mrcal_point2_t* azel0_deg,
// input
// we refuse to create a view this close to az=90 or az=-90
const double az_edge_margin_deg,
// Intrinsics used only for pixels_per_deg detection
const mrcal_lensmodel_t* lensmodel0,
const double* intrinsics0,
const double* rt_cam0_ref,
const double* rt_cam1_ref,
const mrcal_lensmodel_type_t rectification_model_type,
bool az0_deg_autodetect,
bool el0_deg_autodetect,
bool az_fov_deg_autodetect,
bool el_fov_deg_autodetect);
// legacy function. Uses az_edge_margin_deg=10.0 without providing an argument
bool mrcal_rectified_system(// output
unsigned int* imagersize_rectified,
double* fxycxy_rectified,
double* rt_rect0_ref,
double* baseline,
// input, output
// > 0: use given value
// < 0: autodetect and scale
double* pixels_per_deg_az,
double* pixels_per_deg_el,
// input, output
// if(..._autodetect) { the results are returned here }
mrcal_point2_t* azel_fov_deg,
mrcal_point2_t* azel0_deg,
// input
// Intrinsics used only for pixels_per_deg detection
const mrcal_lensmodel_t* lensmodel0,
const double* intrinsics0,
const double* rt_cam0_ref,
const double* rt_cam1_ref,
const mrcal_lensmodel_type_t rectification_model_type,
bool az0_deg_autodetect,
bool el0_deg_autodetect,
bool az_fov_deg_autodetect,
bool el_fov_deg_autodetect);
// The reference implementation in Python is _rectification_maps_python() in
// stereo.py
//
// The Python wrapper is mrcal.rectification_maps(), and the documentation is in
// the docstring of that function
bool mrcal_rectification_maps(// output
// Dense array of shape (Ncameras=2, Nel, Naz, Nxy=2)
float* rectification_maps,
// input
const mrcal_lensmodel_t* lensmodel0,
const double* intrinsics0,
const double* r_cam0_ref,
const mrcal_lensmodel_t* lensmodel1,
const double* intrinsics1,
const double* r_cam1_ref,
const mrcal_lensmodel_type_t rectification_model_type,
const double* fxycxy_rectified,
const unsigned int* imagersize_rectified,
const double* r_rect0_ref);
// The reference implementation in Python is _stereo_range_python() in
// stereo.py
//
// The Python wrapper is mrcal.stereo_range(), and the documentation is in
// the docstring of that function
bool mrcal_stereo_range_sparse(// output
double* range, // N of these
// input
const double* disparity, // N of these
const mrcal_point2_t* qrect0, // N of these
const int N, // how many points
const double disparity_min,
const double disparity_max,
// models_rectified
const mrcal_lensmodel_type_t rectification_model_type,
const double* fxycxy_rectified,
const double baseline);
bool mrcal_stereo_range_dense(// output
mrcal_image_double_t* range,
// input
const mrcal_image_uint16_t* disparity_scaled,
const uint16_t disparity_scale,
// Used to detect invalid values. Set to
// 0,UINT16_MAX to ignore
const uint16_t disparity_scaled_min,
const uint16_t disparity_scaled_max,
// models_rectified
const mrcal_lensmodel_type_t rectification_model_type,
const double* fxycxy_rectified,
const double baseline);
#ifdef __cplusplus
}
#endif
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