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retinify 0.2.0
Real-Time AI Stereo Vision Library
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Classes | |
struct | CalibrationParameters |
Stereo camera calibration parameters. More... | |
struct | Distortion |
Rational distortion model with 8 coefficients: (k1, k2, p1, p2, k3, k4, k5, k6). More... | |
struct | DistortionFisheye |
Fisheye distortion model with 4 coefficients (k1, k2, k3, k4). More... | |
struct | Intrinsics |
Camera intrinsic parameters with focal lengths, principal point, and skew. More... | |
class | Pipeline |
A retinify::Pipeline provides an interface for running a stereo matching. More... | |
struct | Rect2 |
Rectangle structure. More... | |
class | Status |
This class represents the status of an operation in the retinify library. More... | |
Typedefs | |
using | Vec2d = std::array< double, 2 > |
2D vector (double). | |
using | Vec3d = std::array< double, 3 > |
3D vector (double). | |
using | Point2d = std::array< double, 2 > |
2D point (double). | |
using | Point3d = std::array< double, 3 > |
3D point (double). | |
using | Mat3x3d = std::array< std::array< double, 3 >, 3 > |
3x3 matrix (double, row-major). | |
using | Mat3x4d = std::array< std::array< double, 4 >, 3 > |
3x4 matrix (double, row-major). | |
using | Mat4x4d = std::array< std::array< double, 4 >, 4 > |
4x4 matrix (double, row-major). | |
using | Vec2f = std::array< float, 2 > |
2D vector (float). | |
using | Vec3f = std::array< float, 3 > |
3D vector (float). | |
using | Point2f = std::array< float, 2 > |
2D point (float). | |
using | Point3f = std::array< float, 3 > |
3D point (float). | |
using | Mat3x3f = std::array< std::array< float, 3 >, 3 > |
3x3 matrix (float, row-major). | |
using | Mat3x4f = std::array< std::array< float, 4 >, 3 > |
3x4 matrix (float, row-major). | |
using | Mat4x4f = std::array< std::array< float, 4 >, 4 > |
4x4 matrix (float, row-major). | |
using | Rect2i = Rect2< std::int32_t > |
2D rectangle (int). | |
using | Rect2d = Rect2< double > |
2D rectangle (double). | |
Enumerations | |
enum class | LogLevel : std::uint8_t { DEBUG , INFO , WARN , ERROR , FATAL , OFF } |
Logging verbosity levels for retinify. More... | |
enum class | PixelFormat : std::uint8_t { GRAY8 , RGB8 } |
The pixel format options for input images. More... | |
enum class | DepthMode : std::uint8_t { FAST , BALANCED , ACCURATE } |
The depth mode options for stereo matching pipeline. More... | |
enum class | StatusCategory : std::uint8_t { NONE , RETINIFY , SYSTEM , CUDA , USER } |
Status categories used by retinify. More... | |
enum class | StatusCode : std::uint8_t { OK , FAIL , INVALID_ARGUMENT } |
Status codes returned by retinify operations. More... | |
Functions | |
RETINIFY_API auto | ColorizeDisparity (const float *src, std::size_t srcStride, std::uint8_t *dst, std::size_t dstStride, std::uint32_t imageWidth, std::uint32_t imageHeight, float maxDisparity) -> Status |
Applies the colormap to the disparity map. | |
RETINIFY_API auto | Identity () noexcept -> Mat3x3d |
Create a 3x3 identity matrix. | |
RETINIFY_API auto | Determinant (const Mat3x3d &mat) noexcept -> double |
Compute the determinant of a 3x3 matrix. | |
RETINIFY_API auto | Transpose (const Mat3x3d &mat) noexcept -> Mat3x3d |
Transpose a 3x3 matrix. | |
RETINIFY_API auto | Multiply (const Mat3x3d &mat1, const Mat3x3d &mat2) noexcept -> Mat3x3d |
Multiply two 3x3 matrices. | |
RETINIFY_API auto | Multiply (const Mat3x3d &mat, const Vec3d &vec) noexcept -> Vec3d |
Multiply a 3x3 matrix and a 3D vector. | |
RETINIFY_API auto | Scale (const Vec3d &vec, double scale) noexcept -> Vec3d |
Scale a 3D vector by a scalar value. | |
RETINIFY_API auto | Length (const Vec3d &vec) noexcept -> double |
Compute the length (magnitude) of a 3D vector. | |
RETINIFY_API auto | Normalize (const Vec3d &vec) noexcept -> Vec3d |
Normalize a 3D vector to unit length. | |
RETINIFY_API auto | Cross (const Vec3d &vec1, const Vec3d &vec2) noexcept -> Vec3d |
Compute the cross product of two 3D vectors. | |
RETINIFY_API auto | Exp (const Vec3d &omega) noexcept -> Mat3x3d |
Compute the matrix exponential of a 3D rotation vector. | |
RETINIFY_API auto | Log (const Mat3x3d &rotation) noexcept -> Vec3d |
Compute the matrix logarithm of a 3x3 rotation matrix. | |
RETINIFY_API auto | UndistortPoint (const Intrinsics &intrinsics, const Distortion &distortion, const Point2d &pixel) noexcept -> Point2d |
Undistort a 2D point using the given camera intrinsics and distortion parameters. | |
RETINIFY_API auto | StereoRectify (const Intrinsics &intrinsics1, const Distortion &distortion1, const Intrinsics &intrinsics2, const Distortion &distortion2, const Mat3x3d &rotation, const Vec3d &translation, std::uint32_t imageWidth, std::uint32_t imageHeight, Mat3x3d &rotation1, Mat3x3d &rotation2, Mat3x4d &projectionMatrix1, Mat3x4d &projectionMatrix2, Mat4x4d &mappingMatrix, double alpha) noexcept -> void |
Perform stereo rectification for a pair of cameras. | |
RETINIFY_API auto | InitUndistortRectifyMap (const Intrinsics &intrinsics, const Distortion &distortion, const Mat3x3d &rotation, const Mat3x4d &projectionMatrix, std::uint32_t imageWidth, std::uint32_t imageHeight, float *mapx, std::size_t mapxStride, float *mapy, std::size_t mapyStride) noexcept -> void |
Initialize undistort and rectify maps for image remapping. | |
RETINIFY_API auto | InitIdentityMap (float *mapx, std::size_t mapxStride, float *mapy, std::size_t mapyStride, std::size_t imageWidth, std::size_t imageHeight) noexcept -> void |
Initialize identity maps for undistortion/rectification. | |
RETINIFY_API auto | SaveCalibrationParameters (const char *filename, const CalibrationParameters ¶meters) noexcept -> Status |
Save stereo calibration parameters. | |
RETINIFY_API auto | LoadCalibrationParameters (const char *filename, CalibrationParameters ¶meters) noexcept -> Status |
Load stereo calibration parameters. | |
RETINIFY_API auto | GetLogLevel () noexcept -> LogLevel |
Returns the current log level. | |
RETINIFY_API void | SetLogLevel (LogLevel level) noexcept |
Sets the log level. | |
RETINIFY_API void | LogDebug (const char *message, std::source_location location=std::source_location::current()) noexcept |
Logs a debug message. | |
RETINIFY_API void | LogInfo (const char *message, std::source_location location=std::source_location::current()) noexcept |
Logs an informational message. | |
RETINIFY_API void | LogWarn (const char *message, std::source_location location=std::source_location::current()) noexcept |
Logs a warning message. | |
RETINIFY_API void | LogError (const char *message, std::source_location location=std::source_location::current()) noexcept |
Logs an error message. | |
RETINIFY_API void | LogFatal (const char *message, std::source_location location=std::source_location::current()) noexcept |
Logs a fatal error message. | |
RETINIFY_API auto | HomeDirectoryPath () noexcept -> const char * |
Returns the current user’s home directory path. | |
RETINIFY_API auto | ConfigDirectoryPath () noexcept -> const char * |
Returns the configuration directory path for retinify. | |
RETINIFY_API auto | CacheDirectoryPath () noexcept -> const char * |
Returns the cache directory path for retinify. | |
RETINIFY_API auto | DataDirectoryPath () noexcept -> const char * |
Returns the data directory path for retinify. | |
RETINIFY_API auto | StateDirectoryPath () noexcept -> const char * |
Returns the state directory path for retinify. | |
RETINIFY_API auto | ONNXModelFilePath () noexcept -> const char * |
Returns the path to the ONNX model file used by retinify. | |
RETINIFY_API auto | Version () noexcept -> const char * |
Returns the retinify library version in semantic versioning format. | |
using retinify::Mat3x3d = typedef std::array<std::array<double, 3>, 3> |
3x3 matrix (double, row-major).
using retinify::Mat3x3f = typedef std::array<std::array<float, 3>, 3> |
3x3 matrix (float, row-major).
using retinify::Mat3x4d = typedef std::array<std::array<double, 4>, 3> |
3x4 matrix (double, row-major).
using retinify::Mat3x4f = typedef std::array<std::array<float, 4>, 3> |
3x4 matrix (float, row-major).
using retinify::Mat4x4d = typedef std::array<std::array<double, 4>, 4> |
4x4 matrix (double, row-major).
using retinify::Mat4x4f = typedef std::array<std::array<float, 4>, 4> |
4x4 matrix (float, row-major).
using retinify::Point2d = typedef std::array<double, 2> |
2D point (double).
using retinify::Point2f = typedef std::array<float, 2> |
2D point (float).
using retinify::Point3d = typedef std::array<double, 3> |
3D point (double).
using retinify::Point3f = typedef std::array<float, 3> |
3D point (float).
using retinify::Rect2d = typedef Rect2<double> |
2D rectangle (double).
using retinify::Rect2i = typedef Rect2<std::int32_t> |
2D rectangle (int).
using retinify::Vec2d = typedef std::array<double, 2> |
2D vector (double).
using retinify::Vec2f = typedef std::array<float, 2> |
2D vector (float).
using retinify::Vec3d = typedef std::array<double, 3> |
3D vector (double).
using retinify::Vec3f = typedef std::array<float, 3> |
3D vector (float).
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Status categories used by retinify.
Enumerator | |
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NONE | No category. |
RETINIFY | Retinify-internal category. |
SYSTEM | System-related category. |
CUDA | CUDA-related category. |
USER | User-originated category. |
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Status codes returned by retinify operations.
Enumerator | |
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OK | Operation succeeded. |
FAIL | Operation failed. |
INVALID_ARGUMENT | Invalid argument provided. |
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noexcept |
Returns the cache directory path for retinify.
RETINIFY_API auto retinify::ColorizeDisparity | ( | const float * | src, |
std::size_t | srcStride, | ||
std::uint8_t * | dst, | ||
std::size_t | dstStride, | ||
std::uint32_t | imageWidth, | ||
std::uint32_t | imageHeight, | ||
float | maxDisparity | ||
) | -> Status |
Applies the colormap to the disparity map.
src | Input disparity map (32-bit float). |
srcStride | Stride of the input disparity map in bytes. |
dst | Output colored disparity map (8-bit 3-channel RGB). |
dstStride | Stride of the output colored disparity map in bytes. |
imageWidth | Width of the input and output disparity maps. |
imageHeight | Height of the input and output disparity maps. |
maxDisparity | Maximum disparity value for normalization. |
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noexcept |
Returns the configuration directory path for retinify.
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noexcept |
Compute the cross product of two 3D vectors.
vec1 | First 3D vector. |
vec2 | Second 3D vector. |
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noexcept |
Returns the data directory path for retinify.
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noexcept |
Compute the determinant of a 3x3 matrix.
mat | 3x3 matrix. |
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noexcept |
Compute the matrix exponential of a 3D rotation vector.
omega | 3D rotation vector. |
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noexcept |
Returns the current log level.
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noexcept |
Returns the current user’s home directory path.
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noexcept |
Create a 3x3 identity matrix.
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noexcept |
Initialize identity maps for undistortion/rectification.
mapx | Output map for x-coordinates |
mapxStride | Stride (in bytes) of a row in mapx |
mapy | Output map for y-coordinates |
mapyStride | Stride (in bytes) of a row in mapy |
imageWidth | Image width in pixels |
imageHeight | Image height in pixels |
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noexcept |
Initialize undistort and rectify maps for image remapping.
intrinsics | Camera intrinsics |
distortion | Distortion parameters |
rotation | Rectification rotation |
projectionMatrix | Projection matrix |
imageWidth | Image width in pixels. |
imageHeight | Image height in pixels. |
mapx | Output map for x-coordinates |
mapxStride | Stride (in bytes) of a row in mapx |
mapy | Output map for y-coordinates |
mapyStride | Stride (in bytes) of a row in mapy |
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noexcept |
Compute the length (magnitude) of a 3D vector.
vec | 3D vector. |
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noexcept |
Load stereo calibration parameters.
filename | Path to the input file. |
parameters | Calibration parameters to load into. |
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noexcept |
Compute the matrix logarithm of a 3x3 rotation matrix.
rotation | 3x3 rotation matrix. |
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noexcept |
Logs a debug message.
message | The message to log. |
location | The source location of the log call (defaults to the call site). |
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noexcept |
Logs an error message.
message | The message to log. |
location | The source location of the log call (defaults to the call site). |
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noexcept |
Logs a fatal error message.
message | The message to log. |
location | The source location of the log call (defaults to the call site). |
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noexcept |
Logs an informational message.
message | The message to log. |
location | The source location of the log call (defaults to the call site). |
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noexcept |
Logs a warning message.
message | The message to log. |
location | The source location of the log call (defaults to the call site). |
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noexcept |
Multiply a 3x3 matrix and a 3D vector.
mat | 3x3 matrix. |
vec | 3D vector. |
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noexcept |
Multiply two 3x3 matrices.
mat1 | First 3x3 matrix. |
mat2 | Second 3x3 matrix. |
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noexcept |
Normalize a 3D vector to unit length.
vec | 3D vector. |
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noexcept |
Returns the path to the ONNX model file used by retinify.
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noexcept |
Save stereo calibration parameters.
filename | Path to the output file. |
parameters | Calibration parameters to save. |
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noexcept |
Scale a 3D vector by a scalar value.
vec | 3D vector |
scale | Scalar value |
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noexcept |
Sets the log level.
level | The new log level to apply. |
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noexcept |
Returns the state directory path for retinify.
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noexcept |
Perform stereo rectification for a pair of cameras.
intrinsics1 | First camera intrinsics. |
distortion1 | First camera distortion. |
intrinsics2 | Second camera intrinsics. |
distortion2 | Second camera distortion. |
rotation | Rotation from the first to the second camera. |
translation | Translation from the first to the second camera. |
imageWidth | Image width in pixels. |
imageHeight | Image height in pixels. |
rotation1 | Output rectification rotation for the first camera. |
rotation2 | Output rectification rotation for the second camera. |
projectionMatrix1 | Output projection matrix for the first camera. |
projectionMatrix2 | Output projection matrix for the second camera. |
mappingMatrix | Output mapping matrix. |
alpha | A free scaling parameter that controls cropping after rectification: 0 keeps only valid pixels (no black borders), 1 preserves the full original image (black borders included), values between 0 and 1 yield intermediate results, and -1 applies the default behavior. |
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noexcept |
Transpose a 3x3 matrix.
mat | 3x3 matrix. |
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noexcept |
Undistort a 2D point using the given camera intrinsics and distortion parameters.
intrinsics | Camera intrinsic parameters. |
distortion | Distortion parameters. |
pixel | Distorted 2D point in pixel coordinates. |
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noexcept |
Returns the retinify library version in semantic versioning format.