Classes
struct	CalibrationParameters
	Stereo camera calibration parameters. More...

struct	DistortionCoefficients
	Rational distortion model with 8 coefficients: (k1, k2, p1, p2, k3, k4, k5, k6) More...

class	NoCopyMove
	Base class that disables copy and move operations for derived classes. More...

struct	PinholeIntrinsics
	Pinhole 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	Rect2d = Rect2< double >
	2D rectangle (double)

Enumerations
enum class	LogLevel : std::uint8_t { DEBUG , INFO , WARN , ERROR , FATAL , OFF }
	Logging verbosity levels. More...

enum class	LogLocation : std::uint8_t { NONE , FUNCTION }
	Logging source location options. 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) noexcept -> Status
	Applies the colormap to the disparity map.

RETINIFY_API auto	ColorizeDepth (const float src, std::size_t srcStride, std::uint8_t dst, std::size_t dstStride, std::uint32_t imageWidth, std::uint32_t imageHeight, float maxDepth) noexcept -> Status
	Applies the colormap to the depth 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	Add (const Mat3x3d &mat1, const Mat3x3d &mat2) noexcept -> Mat3x3d
	Add 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	Multiply (const Mat3x3d &mat1, const Mat3x3d &mat2) noexcept -> Mat3x3d
	Multiply two 3x3 matrices.

RETINIFY_API auto	Multiply (const Mat3x3d &mat, double scale) noexcept -> Mat3x3d
	Multiply a 3x3 matrix by a scalar value.

RETINIFY_API auto	Multiply (const Vec3d &vec, double scale) noexcept -> Vec3d
	Multiply 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	Dot (const Vec3d &vec1, const Vec3d &vec2) noexcept -> double
	Compute the dot product of two 3D vectors.

RETINIFY_API auto	Cross (const Vec3d &vec1, const Vec3d &vec2) noexcept -> Vec3d
	Compute the cross product of two 3D vectors.

RETINIFY_API auto	Hat (const Vec3d &vec) noexcept -> Mat3x3d
	Create a 3x3 skew-symmetric matrix from a 3D rotation vector.

RETINIFY_API auto	Vee (const Mat3x3d &mat) noexcept -> Vec3d
	Convert a 3x3 skew-symmetric matrix to a 3D rotation vector.

RETINIFY_API auto	Exp (const Vec3d &vec) noexcept -> Mat3x3d
	Compute the matrix exponential of a 3D rotation vector.

RETINIFY_API auto	Log (const Mat3x3d &mat) noexcept -> Vec3d
	Compute the matrix logarithm of a 3x3 rotation matrix.

RETINIFY_API auto	UndistortPoint (const PinholeIntrinsics &intrinsics, const DistortionCoefficients &distortion, const Point2d &point) noexcept -> Point2d
	Undistort a 2D point using the given camera intrinsics and distortion coefficients.

RETINIFY_API auto	DistortPoint (const PinholeIntrinsics &intrinsics, const DistortionCoefficients &distortion, const Point2d &point) noexcept -> Point2d
	Distort a normalized 2D point using the given camera intrinsics and distortion coefficients.

RETINIFY_API auto	Undistort (const PinholeIntrinsics &intrinsics, const DistortionCoefficients &distortion, const std::uint8_t src, std::size_t srcStride, std::uint8_t dst, std::size_t dstStride, std::uint32_t imageWidth, std::uint32_t imageHeight) noexcept -> Status
	Undistort an image using the given camera intrinsics and distortion coefficients.

RETINIFY_API auto	StereoRectify (const PinholeIntrinsics &intrinsics1, const DistortionCoefficients &distortion1, const PinholeIntrinsics &intrinsics2, const DistortionCoefficients &distortion2, const Mat3x3d &rotation, const Vec3d &translation, std::uint32_t imageWidth, std::uint32_t imageHeight, Mat3x3d &rotation1, Mat3x3d &rotation2, Mat3x4d &projectionMatrix1, Mat3x4d &projectionMatrix2, Mat4x4d &reprojectionMatrix, double alpha) noexcept -> Status
	Perform stereo rectification for a pair of cameras.

RETINIFY_API auto	InitUndistortRectifyMap (const PinholeIntrinsics &intrinsics, const DistortionCoefficients &distortion, const Mat3x3d &rotation, const Mat3x4d &projectionMatrix, float mapX, std::size_t mapXStride, float mapY, std::size_t mapYStride, std::uint32_t imageWidth, std::uint32_t imageHeight) noexcept -> Status
	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 -> Status
	Initialize identity maps for undistortion/rectification.

RETINIFY_API auto	Resize (const std::uint8_t src, std::size_t srcStride, std::uint8_t dst, std::size_t dstStride, std::size_t srcWidth, std::size_t srcHeight, std::size_t dstWidth, std::size_t dstHeight, std::size_t channels) noexcept -> Status
	Resize an 8-bit image using bilinear interpolation.

RETINIFY_API auto	Remap (const std::uint8_t src, std::size_t srcStride, std::uint8_t dst, std::size_t dstStride, const float mapX, std::size_t mapXStride, const float mapY, std::size_t mapYStride, std::size_t imageWidth, std::size_t imageHeight, std::size_t channels) noexcept -> Status
	Remap an 8-bit image using the provided x/y coordinate maps.

RETINIFY_API auto	SaveCalibrationParameters (const char *filename, const CalibrationParameters &parameters) noexcept -> Status
	Save stereo calibration parameters.

RETINIFY_API auto	LoadCalibrationParameters (const char *filename, CalibrationParameters &parameters) noexcept -> Status
	Load stereo calibration parameters.

RETINIFY_API auto	GetLogLevel () noexcept -> LogLevel
	Returns the current log level.

RETINIFY_API auto	SetLogLevel (LogLevel level) noexcept -> void
	Sets the log level.

RETINIFY_API auto	GetLogLocation () noexcept -> LogLocation
	Returns the current log location setting.

RETINIFY_API auto	SetLogLocation (LogLocation location) noexcept -> void
	Sets the log location setting.

RETINIFY_API auto	LogDebug (const char *message, std::source_location location=std::source_location::current()) noexcept -> void
	Logs a debug message.

RETINIFY_API auto	LogInfo (const char *message, std::source_location location=std::source_location::current()) noexcept -> void
	Logs an informational message.

RETINIFY_API auto	LogWarn (const char *message, std::source_location location=std::source_location::current()) noexcept -> void
	Logs a warning message.

RETINIFY_API auto	LogError (const char *message, std::source_location location=std::source_location::current()) noexcept -> void
	Logs an error message.

RETINIFY_API auto	LogFatal (const char *message, std::source_location location=std::source_location::current()) noexcept -> void
	Logs a fatal error message.

RETINIFY_API auto	LogSoftwareInfo (std::source_location location=std::source_location::current()) noexcept -> void
	Logs basic information about the retinify library.

RETINIFY_API auto	LogStrideError (std::size_t providedStride, std::size_t requiredStride, std::source_location location=std::source_location::current()) noexcept -> void
	Logs an error indicating that the provided stride is smaller than the required stride.

template<typename Function >
auto	NoThrow (Function &&function) noexcept -> Status
	Executes a function and converts any exception into a Status.

RETINIFY_API auto	HomeDirectoryPath (std::filesystem::path &path) noexcept -> Status
	Returns the current user’s home directory path.

RETINIFY_API auto	ConfigDirectoryPath (std::filesystem::path &path) noexcept -> Status
	Returns the configuration directory path for retinify.

RETINIFY_API auto	CacheDirectoryPath (std::filesystem::path &path) noexcept -> Status
	Returns the cache directory path for retinify.

RETINIFY_API auto	DataDirectoryPath (std::filesystem::path &path) noexcept -> Status
	Returns the data directory path for retinify.

RETINIFY_API auto	StateDirectoryPath (std::filesystem::path &path) noexcept -> Status
	Returns the state directory path for retinify.

RETINIFY_API auto	Version () noexcept -> const char *
	Returns the retinify library version in semantic versioning format.

Typedef Documentation

◆ Mat3x3d

using retinify::Mat3x3d = typedef std::array<std::array<double, 3>, 3>

3x3 matrix (double, row-major)

◆ Mat3x4d

using retinify::Mat3x4d = typedef std::array<std::array<double, 4>, 3>

3x4 matrix (double, row-major)

◆ Mat4x4d

using retinify::Mat4x4d = typedef std::array<std::array<double, 4>, 4>

4x4 matrix (double, row-major)

◆ Point2d

using retinify::Point2d = typedef std::array<double, 2>

2D point (double)

◆ Point3d

using retinify::Point3d = typedef std::array<double, 3>

3D point (double)

◆ Rect2d

using retinify::Rect2d = typedef Rect2<double>

2D rectangle (double)

◆ Vec2d

using retinify::Vec2d = typedef std::array<double, 2>

2D vector (double)

◆ Vec3d

using retinify::Vec3d = typedef std::array<double, 3>

3D vector (double)

Enumeration Type Documentation

◆ DepthMode

enum class retinify::DepthMode : std::uint8_t

strong

The depth mode options for stereo matching pipeline.

Enumerator
FAST	Fastest, with lowest accuracy.
BALANCED	Balanced, with moderate accuracy and speed.
ACCURATE	Most accurate, with slowest performance.

◆ LogLevel

enum class retinify::LogLevel : std::uint8_t

strong

Logging verbosity levels.

Enumerator
DEBUG	Debug messages.
INFO	Informational messages.
WARN	Warning messages.
ERROR	Error messages.
FATAL	Fatal Error messages.
OFF	Disable all logging.

◆ LogLocation

enum class retinify::LogLocation : std::uint8_t

strong

Logging source location options.

Enumerator
NONE	No source location.
FUNCTION	Function name.

◆ PixelFormat

enum class retinify::PixelFormat : std::uint8_t

strong

The pixel format options for input images.

Enumerator
GRAY8	8-bit 1ch, Grayscale format
RGB8	8-bit 3ch, RGB format

◆ StatusCategory

enum class retinify::StatusCategory : std::uint8_t

strong

Status categories used by retinify.

Enumerator
NONE	No category.
RETINIFY	Retinify-internal category.
SYSTEM	System-related category.
CUDA	CUDA-related category.
USER	User-originated category.

◆ StatusCode

enum class retinify::StatusCode : std::uint8_t

strong

Status codes returned by retinify operations.

Enumerator
OK	Operation succeeded.
FAIL	Operation failed.
INVALID_ARGUMENT	Invalid argument provided.

Function Documentation

◆ Add()

RETINIFY_API auto retinify::Add	(	const Mat3x3d &	mat1,
		const Mat3x3d &	mat2
	)		-> Mat3x3d

noexcept

Add two 3x3 matrices.

Parameters

mat1	First 3x3 matrix
mat2	Second 3x3 matrix

Returns: 3x3 matrix

◆ CacheDirectoryPath()

RETINIFY_API auto retinify::CacheDirectoryPath ( std::filesystem::path & path ) -> Status

noexcept

Returns the cache directory path for retinify.

Parameters

path	Output cache directory path

Returns: A Status object that indicates whether the operation was successful

◆ ColorizeDepth()

RETINIFY_API auto retinify::ColorizeDepth	(	const float *	src,
		std::size_t	srcStride,
		std::uint8_t *	dst,
		std::size_t	dstStride,
		std::uint32_t	imageWidth,
		std::uint32_t	imageHeight,
		float	maxDepth
	)		-> Status

noexcept

Applies the colormap to the depth map.

Parameters

src	Input depth map (32-bit float)
srcStride	Stride of the input depth map (in bytes)
dst	Output colored depth map (8-bit 3-channel RGB)
dstStride	Stride of the output colored depth map (in bytes)
imageWidth	Width of the input and output depth maps (in pixels)
imageHeight	Height of the input and output depth maps (in pixels)
maxDepth	Maximum depth value

Returns: A Status object that indicates whether the operation was successful

◆ ColorizeDisparity()

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

noexcept

Applies the colormap to the disparity map.

Parameters

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 (in pixels)
imageHeight	Height of the input and output disparity maps (in pixels)
maxDisparity	Maximum disparity value

Returns: A Status object that indicates whether the operation was successful

◆ ConfigDirectoryPath()

RETINIFY_API auto retinify::ConfigDirectoryPath ( std::filesystem::path & path ) -> Status

noexcept

Returns the configuration directory path for retinify.

Parameters

path	Output configuration directory path

Returns: A Status object that indicates whether the operation was successful

◆ Cross()

RETINIFY_API auto retinify::Cross	(	const Vec3d &	vec1,
		const Vec3d &	vec2
	)		-> Vec3d

noexcept

Compute the cross product of two 3D vectors.

Parameters

vec1	First 3D vector
vec2	Second 3D vector

Returns: Cross product vector

◆ DataDirectoryPath()

RETINIFY_API auto retinify::DataDirectoryPath ( std::filesystem::path & path ) -> Status

noexcept

Returns the data directory path for retinify.

Parameters

path	Output data directory path

Returns: A Status object that indicates whether the operation was successful

◆ Determinant()

RETINIFY_API auto retinify::Determinant ( const Mat3x3d & mat ) -> double

noexcept

Compute the determinant of a 3x3 matrix.

Parameters

mat	3x3 matrix

Returns: Determinant value

◆ DistortPoint()

RETINIFY_API auto retinify::DistortPoint	(	const PinholeIntrinsics &	intrinsics,
		const DistortionCoefficients &	distortion,
		const Point2d &	point
	)		-> Point2d

noexcept

Distort a normalized 2D point using the given camera intrinsics and distortion coefficients.

Parameters

intrinsics	Camera intrinsic parameters
distortion	Distortion coefficients
point	Undistorted 2D point (normalized image coordinates)

Returns: Distorted 2D point (in pixel coordinates)

◆ Dot()

RETINIFY_API auto retinify::Dot	(	const Vec3d &	vec1,
		const Vec3d &	vec2
	)		-> double

noexcept

Compute the dot product of two 3D vectors.

Parameters

vec1	First 3D vector
vec2	Second 3D vector

Returns: Dot product value

◆ Exp()

RETINIFY_API auto retinify::Exp ( const Vec3d & vec ) -> Mat3x3d

noexcept

Compute the matrix exponential of a 3D rotation vector.

Parameters

vec	3D rotation vector

Returns: 3x3 rotation matrix

◆ GetLogLevel()

RETINIFY_API auto retinify::GetLogLevel ( ) -> LogLevel

noexcept

Returns the current log level.

Returns: The current log level

◆ GetLogLocation()

RETINIFY_API auto retinify::GetLogLocation ( ) -> LogLocation

noexcept

Returns the current log location setting.

Returns: The current log location setting

◆ Hat()

RETINIFY_API auto retinify::Hat ( const Vec3d & vec ) -> Mat3x3d

noexcept

Create a 3x3 skew-symmetric matrix from a 3D rotation vector.

Parameters

vec	3D rotation vector

Returns: 3x3 skew-symmetric matrix

◆ HomeDirectoryPath()

RETINIFY_API auto retinify::HomeDirectoryPath ( std::filesystem::path & path ) -> Status

noexcept

Returns the current user’s home directory path.

Parameters

path	Output home directory path

Returns: A Status object that indicates whether the operation was successful

◆ Identity()

RETINIFY_API auto retinify::Identity ( ) -> Mat3x3d

noexcept

Create a 3x3 identity matrix.

Returns: 3x3 identity matrix

◆ InitIdentityMap()

RETINIFY_API auto retinify::InitIdentityMap	(	float *	mapX,
		std::size_t	mapXStride,
		float *	mapY,
		std::size_t	mapYStride,
		std::size_t	imageWidth,
		std::size_t	imageHeight
	)		-> Status

noexcept

Initialize identity maps for undistortion/rectification.

Parameters

mapX	Output map for x-coordinates
mapXStride	Stride of a row in mapX (in bytes)
mapY	Output map for y-coordinates
mapYStride	Stride of a row in mapY (in bytes)
imageWidth	Image width (in pixels)
imageHeight	Image height (in pixels)

Returns: A Status object that indicates whether the operation was successful

◆ InitUndistortRectifyMap()

RETINIFY_API auto retinify::InitUndistortRectifyMap	(	const PinholeIntrinsics &	intrinsics,
		const DistortionCoefficients &	distortion,
		const Mat3x3d &	rotation,
		const Mat3x4d &	projectionMatrix,
		float *	mapX,
		std::size_t	mapXStride,
		float *	mapY,
		std::size_t	mapYStride,
		std::uint32_t	imageWidth,
		std::uint32_t	imageHeight
	)		-> Status

noexcept

Initialize undistort and rectify maps for image remapping.

Parameters

intrinsics	Camera intrinsics
distortion	Distortion coefficients
rotation	Rectification rotation
projectionMatrix	Projection matrix
mapX	Output map for x-coordinates
mapXStride	Stride of a row in mapX (in bytes)
mapY	Output map for y-coordinates
mapYStride	Stride of a row in mapY (in bytes)
imageWidth	Image width (in pixels)
imageHeight	Image height (in pixels)

Returns: A Status object that indicates whether the operation was successful

◆ Length()

RETINIFY_API auto retinify::Length ( const Vec3d & vec ) -> double

noexcept

Compute the length (magnitude) of a 3D vector.

Parameters

vec 3D vector

Returns: Length value

◆ LoadCalibrationParameters()

RETINIFY_API auto retinify::LoadCalibrationParameters	(	const char *	filename,
		CalibrationParameters &	parameters
	)		-> Status

noexcept

Load stereo calibration parameters.

Parameters

filename	Path to the input file
parameters	Calibration parameters to load into

Returns: A Status object that indicates whether the operation was successful

◆ Log()

RETINIFY_API auto retinify::Log ( const Mat3x3d & mat ) -> Vec3d

noexcept

Compute the matrix logarithm of a 3x3 rotation matrix.

Parameters

mat	3x3 rotation matrix

Returns: 3D rotation vector

◆ LogDebug()

RETINIFY_API auto retinify::LogDebug	(	const char *	message,
		std::source_location	location = `std::source_location::current()`
	)		-> void

noexcept

Logs a debug message.

Parameters

message	The message to log
location	The source location of the log call (defaults to the call site)

◆ LogError()

RETINIFY_API auto retinify::LogError	(	const char *	message,
		std::source_location	location = `std::source_location::current()`
	)		-> void

noexcept

Logs an error message.

Parameters

message	The message to log
location	The source location of the log call (defaults to the call site)

◆ LogFatal()

RETINIFY_API auto retinify::LogFatal	(	const char *	message,
		std::source_location	location = `std::source_location::current()`
	)		-> void

noexcept

Logs a fatal error message.

Parameters

message	The message to log
location	The source location of the log call (defaults to the call site)

◆ LogInfo()

RETINIFY_API auto retinify::LogInfo	(	const char *	message,
		std::source_location	location = `std::source_location::current()`
	)		-> void

noexcept

Logs an informational message.

Parameters

message	The message to log
location	The source location of the log call (defaults to the call site)

◆ LogSoftwareInfo()

RETINIFY_API auto retinify::LogSoftwareInfo ( std::source_location location = std::source_location::current() ) -> void

noexcept

Logs basic information about the retinify library.

Parameters

location The source location of the log call (defaults to the call site)

◆ LogStrideError()

RETINIFY_API auto retinify::LogStrideError	(	std::size_t	providedStride,
		std::size_t	requiredStride,
		std::source_location	location = `std::source_location::current()`
	)		-> void

noexcept

Logs an error indicating that the provided stride is smaller than the required stride.

Parameters

providedStride	The provided stride value (in bytes)
requiredStride	The required stride value (in bytes)
location	The source location of the log call (defaults to the call site)

◆ LogWarn()

RETINIFY_API auto retinify::LogWarn	(	const char *	message,
		std::source_location	location = `std::source_location::current()`
	)		-> void

noexcept

Logs a warning message.

Parameters

message	The message to log
location	The source location of the log call (defaults to the call site)

◆ Multiply() [1/4]

RETINIFY_API auto retinify::Multiply	(	const Mat3x3d &	mat,
		const Vec3d &	vec
	)		-> Vec3d

noexcept

Multiply a 3x3 matrix and a 3D vector.

Parameters

mat	3x3 matrix
vec	3D vector

Returns: 3D vector

◆ Multiply() [2/4]

RETINIFY_API auto retinify::Multiply	(	const Mat3x3d &	mat,
		double	scale
	)		-> Mat3x3d

noexcept

Multiply a 3x3 matrix by a scalar value.

Parameters

mat	3x3 matrix
scale	Scalar value

Returns: 3x3 matrix

◆ Multiply() [3/4]

RETINIFY_API auto retinify::Multiply	(	const Mat3x3d &	mat1,
		const Mat3x3d &	mat2
	)		-> Mat3x3d

noexcept

Multiply two 3x3 matrices.

Parameters

mat1	First 3x3 matrix
mat2	Second 3x3 matrix

Returns: 3x3 matrix

◆ Multiply() [4/4]

RETINIFY_API auto retinify::Multiply	(	const Vec3d &	vec,
		double	scale
	)		-> Vec3d

noexcept

Multiply a 3D vector by a scalar value.

Parameters

vec	3D vector
scale	Scalar value

Returns: 3D vector

◆ Normalize()

RETINIFY_API auto retinify::Normalize ( const Vec3d & vec ) -> Vec3d

noexcept

Normalize a 3D vector to unit length.

Parameters

vec 3D vector

Returns: Normalized 3D vector

◆ NoThrow()

template<typename Function >

auto retinify::NoThrow ( Function && function ) -> Status

noexcept

Executes a function and converts any exception into a Status.

Template Parameters

Function The type of the function to execute.

Parameters

function The function to execute.

Returns: A Status object that indicates whether the operation was successful

◆ Remap()

RETINIFY_API auto retinify::Remap	(	const std::uint8_t *	src,
		std::size_t	srcStride,
		std::uint8_t *	dst,
		std::size_t	dstStride,
		const float *	mapX,
		std::size_t	mapXStride,
		const float *	mapY,
		std::size_t	mapYStride,
		std::size_t	imageWidth,
		std::size_t	imageHeight,
		std::size_t	channels
	)		-> Status

noexcept

Remap an 8-bit image using the provided x/y coordinate maps.

Parameters

src	Input image data pointer
srcStride	Stride of a row in the source image (in bytes)
dst	Output image data pointer
dstStride	Stride of a row in the destination image (in bytes)
mapX	Map for x-coordinates
mapXStride	Stride of a row in mapX (in bytes)
mapY	Map for y-coordinates
mapYStride	Stride of a row in mapY (in bytes)
imageWidth	Image width (in pixels)
imageHeight	Image height (in pixels)
channels	Number of channels (1 or 3)

Returns: A Status object that indicates whether the operation was successful

◆ Resize()

RETINIFY_API auto retinify::Resize	(	const std::uint8_t *	src,
		std::size_t	srcStride,
		std::uint8_t *	dst,
		std::size_t	dstStride,
		std::size_t	srcWidth,
		std::size_t	srcHeight,
		std::size_t	dstWidth,
		std::size_t	dstHeight,
		std::size_t	channels
	)		-> Status

noexcept

Resize an 8-bit image using bilinear interpolation.

Parameters

src	Input image data pointer
srcStride	Stride of a row in the source image (in bytes)
dst	Output image data pointer
dstStride	Stride of a row in the destination image (in bytes)
srcWidth	Source image width (in pixels)
srcHeight	Source image height (in pixels)
dstWidth	Destination image width (in pixels)
dstHeight	Destination image height (in pixels)
channels	Number of channels (1 or 3)

Returns: A Status object that indicates whether the operation was successful

◆ SaveCalibrationParameters()

RETINIFY_API auto retinify::SaveCalibrationParameters	(	const char *	filename,
		const CalibrationParameters &	parameters
	)		-> Status

noexcept

Save stereo calibration parameters.

Parameters

filename	Path to the output file
parameters	Calibration parameters to save

Returns: A Status object that indicates whether the operation was successful

◆ SetLogLevel()

RETINIFY_API auto retinify::SetLogLevel ( LogLevel level ) -> void

noexcept

Sets the log level.

Parameters

level The new log level to apply

◆ SetLogLocation()

RETINIFY_API auto retinify::SetLogLocation ( LogLocation location ) -> void

noexcept

Sets the log location setting.

Parameters

location The new log location setting to apply

◆ StateDirectoryPath()

RETINIFY_API auto retinify::StateDirectoryPath ( std::filesystem::path & path ) -> Status

noexcept

Returns the state directory path for retinify.

Parameters

path	Output state directory path

Returns: A Status object that indicates whether the operation was successful

◆ StereoRectify()

RETINIFY_API auto retinify::StereoRectify	(	const PinholeIntrinsics &	intrinsics1,
		const DistortionCoefficients &	distortion1,
		const PinholeIntrinsics &	intrinsics2,
		const DistortionCoefficients &	distortion2,
		const Mat3x3d &	rotation,
		const Vec3d &	translation,
		std::uint32_t	imageWidth,
		std::uint32_t	imageHeight,
		Mat3x3d &	rotation1,
		Mat3x3d &	rotation2,
		Mat3x4d &	projectionMatrix1,
		Mat3x4d &	projectionMatrix2,
		Mat4x4d &	reprojectionMatrix,
		double	alpha
	)		-> Status

noexcept

Perform stereo rectification for a pair of cameras.

Parameters

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
reprojectionMatrix	Output reprojection 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

Returns: A Status object that indicates whether the operation was successful

◆ Transpose()

RETINIFY_API auto retinify::Transpose ( const Mat3x3d & mat ) -> Mat3x3d

noexcept

Transpose a 3x3 matrix.

Parameters

mat	3x3 matrix

Returns: Transposed 3x3 matrix

◆ Undistort()

RETINIFY_API auto retinify::Undistort	(	const PinholeIntrinsics &	intrinsics,
		const DistortionCoefficients &	distortion,
		const std::uint8_t *	src,
		std::size_t	srcStride,
		std::uint8_t *	dst,
		std::size_t	dstStride,
		std::uint32_t	imageWidth,
		std::uint32_t	imageHeight
	)		-> Status

noexcept

Undistort an image using the given camera intrinsics and distortion coefficients.

Parameters

intrinsics	Camera intrinsic parameters
distortion	Distortion coefficients
src	Input image data pointer
srcStride	Stride of a row in the source image (in bytes)
dst	Output image data pointer
dstStride	Stride of a row in the destination image (in bytes)
imageWidth	Image width (in pixels)
imageHeight	Image height (in pixels)

Returns: A Status object that indicates whether the operation was successful

◆ UndistortPoint()

RETINIFY_API auto retinify::UndistortPoint	(	const PinholeIntrinsics &	intrinsics,
		const DistortionCoefficients &	distortion,
		const Point2d &	point
	)		-> Point2d

noexcept

Undistort a 2D point using the given camera intrinsics and distortion coefficients.

Parameters

intrinsics	Camera intrinsic parameters
distortion	Distortion coefficients
point	Distorted 2D point (in pixel coordinates)

Returns: Undistorted 2D point (normalized image coordinates)

◆ Vee()

RETINIFY_API auto retinify::Vee ( const Mat3x3d & mat ) -> Vec3d

noexcept

Convert a 3x3 skew-symmetric matrix to a 3D rotation vector.

Parameters

mat	3x3 skew-symmetric matrix

Returns: 3D rotation vector

◆ Version()

RETINIFY_API auto retinify::Version ( ) -> const char *

noexcept

Returns the retinify library version in semantic versioning format.

Returns: A string representing the retinify library version

Classes

Typedefs

Enumerations

Functions

Typedef Documentation

◆ Mat3x3d

◆ Mat3x4d

◆ Mat4x4d

◆ Point2d

◆ Point3d

◆ Rect2d

◆ Vec2d

◆ Vec3d

Enumeration Type Documentation

◆ DepthMode

◆ LogLevel

◆ LogLocation

◆ PixelFormat

◆ StatusCategory

◆ StatusCode

Function Documentation

◆ Add()

◆ CacheDirectoryPath()

◆ ColorizeDepth()

◆ ColorizeDisparity()

◆ ConfigDirectoryPath()

◆ Cross()

◆ DataDirectoryPath()

◆ Determinant()

◆ DistortPoint()

◆ Dot()

◆ Exp()

◆ GetLogLevel()

◆ GetLogLocation()

◆ Hat()

◆ HomeDirectoryPath()

◆ Identity()

◆ InitIdentityMap()

◆ InitUndistortRectifyMap()

◆ Length()

◆ LoadCalibrationParameters()

◆ Log()

◆ LogDebug()

◆ LogError()

◆ LogFatal()

◆ LogInfo()

◆ LogSoftwareInfo()

◆ LogStrideError()

◆ LogWarn()

◆ Multiply() [1/4]

◆ Multiply() [2/4]

◆ Multiply() [3/4]

◆ Multiply() [4/4]

◆ Normalize()

◆ NoThrow()

◆ Remap()

◆ Resize()

◆ SaveCalibrationParameters()

◆ SetLogLevel()

◆ SetLogLocation()

◆ StateDirectoryPath()

◆ StereoRectify()

◆ Transpose()

◆ Undistort()

◆ UndistortPoint()

◆ Vee()

◆ Version()