Loading [MathJax]/extensions/tex2jax.js
  • <xmp id="om0om">
    •
    • <table id="om0om"><noscript id="om0om"></noscript></table>
  		•

    DriveWorks SDK Reference
    5.20.37 Release
    For Test and Development only

    •All Data Structures Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
    Data Structures | Modules | Macros | Typedefs | Enumerations | Functions
    Point Cloud Processing Interface

    Detailed Description

    Defines point cloud assembling module.

    Defines point cloud processing datatypes and memory handling functions.

    Defines point cloud motion compensation module.

    Defines lidar point cloud structure.

    Data Structures

    struct  dwLidarMotionCompensationInfo
     Declares motion compensation traits of the point cloud. More...
     
    struct  dwLidarPointCloud
     Defines a LIDAR-specific point cloud data structure. More...
     
    struct  dwLidarPointCloudMapping
     Struct indicating layer and aux channel mapping. More...
     
    struct  dwMotionCompensatorParams
     Defines point cloud motion compensator parameters. More...
     
    struct  dwPointCloud
     Defines point cloud data structure. More...
     
    struct  dwPointCloudAssemblerParams
     Initialization parameters. More...
     
    struct  dwPointCloudAuxChannel
     Struct holding information about aux channel. More...
     
    struct  dwPointCloudLayer
     Struct holding information about a single point cloud layer. More...
     

    Modules

     Point Cloud Accumulator
     Defines datatypes and functions to accumulate cloud of points.
     
     Point Cloud Filter
     Defines module to perform point cloud box filtering.
     
     Point Cloud ICP
     Defines Point Cloud ICP module to align point clouds using iterative closest point algorithms.
     
     Point Cloud Plane Extractor
     Defines module to extract one 3D plane nearby the sensor.
     
     Point Cloud Range Image Creator
     Defines module to produce range image via spherical projection of the point cloud.
     
     Point Cloud Stitcher
     Defines module to register/stitch multiple sets of point clouds.
     

    Macros

    #define DW_LIDAR_POINT_CLOUD_USER_DATA_SIZE   8
     Number of elements in user buffer. More...
     
    #define DW_POINT_CLOUD_MAX_AUX_CHANNELS   16U
     
    #define DW_POINT_CLOUD_MAX_LAYERS   16U
     

    Typedefs

    typedef struct dwMotionCompensatorObject const * dwMotionCompensatorConstHandle_t
     
    typedef struct dwMotionCompensatorObject * dwMotionCompensatorHandle_t
     
    typedef struct dwPointCloudAssemblerObject const * dwPointCloudAssemblerConstHandle_t
     
    typedef struct dwPointCloudAssemblerObject * dwPointCloudAssemblerHandle_t
     

    Enumerations

    enum  dwMotionCompensatorInterpolationStrategy { DW_PC_MOTION_COMPENSATOR_INTERPOLATION_LINEAR = 0 }
     Defines transform interpolation strategy. More...
     
    enum  dwPointCloudFormat {
      DW_POINTCLOUD_FORMAT_XYZI = 0 ,
      DW_POINTCLOUD_FORMAT_RTHI = 1
    }
     Defines point format. More...
     
    enum  dwPointCloudReferenceFrame {
      DW_POINTCLOUD_REFERENCE_FRAME_SENSOR = 0 ,
      DW_POINTCLOUD_REFERENCE_FRAME_RIG = 1 ,
      DW_POINTCLOUD_REFERENCE_FRAME_CUSTOM = 2
    }
     Defines point cloud coordinate reference frame. More...
     

    Functions

    DW_API_PUBLIC dwStatus dwLidarPointCloud_create (dwLidarPointCloud *lidarPointCloud, dwPointCloudFormat const format, dwMemoryType const memoryType, uint32_t const maxPointsPerReturn, dwLidarPointCloudMapping const *mapping)
     Create lidar specific point cloud. More...
     
    DW_API_PUBLIC dwStatus dwLidarPointCloud_destroy (dwLidarPointCloud *lidarPointCloud)
     Destroy lidar specific point cloud. More...
     
    DW_API_PUBLIC dwStatus dwLidarPointCloud_getLidarPointStride (uint32_t *size, dwPointCloudFormat const format)
     Get the size of the lidar point cloud data type. More...
     
    DW_API_PUBLIC dwStatus dwMotionCompensator_bindEgomotionState (dwConstEgomotionStateHandle_t motionState, dwMotionCompensatorHandle_t obj)
     Bind egomotion state handle. More...
     
    DW_API_PUBLIC dwStatus dwMotionCompensator_bindInput (dwPointCloud const *pointCloud, uint32_t const timestampChannelIndex, dwMotionCompensatorHandle_t obj)
     Bind input point cloud. More...
     
    DW_API_PUBLIC dwStatus dwMotionCompensator_bindInputLidarPointCloud (dwLidarPointCloud const *pointCloud, dwMotionCompensatorHandle_t obj)
     Bind input lidar point cloud. More...
     
    DW_API_PUBLIC dwStatus dwMotionCompensator_bindOutput (dwPointCloud *pointCloud, dwMotionCompensatorHandle_t obj)
     Bind output point cloud. More...
     
    DW_API_PUBLIC dwStatus dwMotionCompensator_bindOutputLidarPointCloud (dwLidarPointCloud *pointCloud, dwMotionCompensatorHandle_t obj)
     Bind output lidar point cloud. More...
     
    DW_API_PUBLIC dwStatus dwMotionCompensator_getCUDAStream (cudaStream_t *stream, dwMotionCompensatorConstHandle_t obj)
     Get CUDA stream of motion compensator. More...
     
    DW_API_PUBLIC dwStatus dwMotionCompensator_getDefaultParams (dwMotionCompensatorParams *params, dwLidarProperties const *lidarProps)
     Get default parameters for motion compensator. More...
     
    DW_API_PUBLIC dwStatus dwMotionCompensator_initialize (dwMotionCompensatorHandle_t *obj, dwMotionCompensatorParams const *params, dwContextHandle_t ctx)
     Initialize motion compensator module. More...
     
    DW_API_PUBLIC dwStatus dwMotionCompensator_process (dwMotionCompensatorHandle_t obj)
     Perform motion compensation. More...
     
    DW_API_PUBLIC dwStatus dwMotionCompensator_release (dwMotionCompensatorHandle_t obj)
     Release motion compensator. More...
     
    DW_API_PUBLIC dwStatus dwMotionCompensator_reset (dwMotionCompensatorHandle_t obj)
     Reset motion compensator. More...
     
    DW_API_PUBLIC dwStatus dwMotionCompensator_setCUDAStream (const cudaStream_t stream, dwMotionCompensatorHandle_t obj)
     Set CUDA stream of motion compensator. More...
     
    DW_API_PUBLIC dwStatus dwMotionCompensator_setReferenceTimestamp (dwTime_t const timestamp, dwMotionCompensatorHandle_t obj)
     Set reference time for motion compensation. More...
     
    DW_API_PUBLIC dwStatus dwMotionCompensator_setTransform (dwTransformation3f const *transform, dwMotionCompensatorHandle_t obj)
     Update point cloud transformation to egomotion coordinate frame. More...
     
    DW_API_PUBLIC dwStatus dwPointCloud_create (dwPointCloud *pointCloud, dwPointCloudFormat const format, dwMemoryType const memoryType, uint32_t const maxPointsPerLayer, uint32_t const numRequestedLayers, uint32_t const *auxChannelsElemSize, uint32_t const numRequestedAuxChannels)
     Create point cloud with layers and aux channel information. More...
     
    DW_API_PUBLIC dwStatus dwPointCloud_createBuffer (dwPointCloud *buffer)
     Allocates memory for point cloud data structure. More...
     
    DW_API_PUBLIC dwStatus dwPointCloud_destroy (dwPointCloud *pointCloud)
     Destroy point cloud buffers. More...
     
    DW_API_PUBLIC dwStatus dwPointCloud_destroyBuffer (dwPointCloud *buffer)
     Destroys allocated memory for point cloud data structure. More...
     
    DW_API_PUBLIC dwStatus dwPointCloud_getPointStride (uint32_t *size)
     Get the size of the point cloud data type. More...
     
    DW_API_PUBLIC dwStatus dwPointCloudAssembler_addLidarPacket (dwLidarDecodedPacket const *const packet, dwPointCloudAssemblerHandle_t const obj)
     Push lidar packet to point cloud assembler. More...
     
    DW_API_PUBLIC dwStatus dwPointCloudAssembler_bindLidarPointCloud (dwLidarPointCloud *const pointCloud, dwPointCloudAssemblerHandle_t const obj)
     Bind output lidar specific point cloud. More...
     
    DW_API_PUBLIC dwStatus dwPointCloudAssembler_bindOutput (dwPointCloud *const pointCloud, dwPointCloudAssemblerHandle_t const obj)
     Bind output point cloud. More...
     
    DW_API_PUBLIC dwStatus dwPointCloudAssembler_getCUDAStream (cudaStream_t *const stream, dwPointCloudAssemblerConstHandle_t const obj)
     Get CUDA stream of point cloud assembler. More...
     
    DW_API_PUBLIC dwStatus dwPointCloudAssembler_getDefaultParams (dwPointCloudAssemblerParams *const params, dwLidarProperties const *const lidarProperties)
     Get default initialization parameters for specified lidar device. More...
     
    DW_API_PUBLIC dwStatus dwPointCloudAssembler_initialize (dwPointCloudAssemblerHandle_t *const obj, dwPointCloudAssemblerParams const *const params, dwLidarProperties const *const lidarProperties, dwContextHandle_t const ctx)
     Initialize point cloud assembler module. More...
     
    DW_API_PUBLIC dwStatus dwPointCloudAssembler_isReady (bool *const isReady, dwPointCloudAssemblerConstHandle_t const obj)
     Indicate that lidar frame has been accumulated. More...
     
    DW_API_PUBLIC dwStatus dwPointCloudAssembler_process (dwPointCloudAssemblerHandle_t const obj)
     Perform processing of accumulated data. More...
     
    DW_API_PUBLIC dwStatus dwPointCloudAssembler_release (dwPointCloudAssemblerHandle_t const obj)
     Release point cloud assembler. More...
     
    DW_API_PUBLIC dwStatus dwPointCloudAssembler_reset (dwPointCloudAssemblerHandle_t const obj)
     Reset point cloud assembler. More...
     
    DW_API_PUBLIC dwStatus dwPointCloudAssembler_setCUDAStream (cudaStream_t const stream, dwPointCloudAssemblerHandle_t const obj)
     Set CUDA stream of point cloud assembler. More...
     

    Data Structure Documentation

    ◆ dwLidarMotionCompensationInfo

    struct dwLidarMotionCompensationInfo
    Data Fields
    bool compensated True if this pointcloud has been motion compensated.
    dwTime_t compensationTimestamp Motion compensation reference timestamp.

    ◆ dwLidarPointCloud

    struct dwLidarPointCloud
    Data Fields
    dwPointCloudReferenceFrame coordinateFrame Coordinate reference frame for the data in this pointcloud.
    dwLidarPointCloudMapping mapping Mapping of returns and aux channels.
    dwLidarMotionCompensationInfo motionCompensation Motion compensation information.
    dwPointCloud pointCloud Wrapped point cloud.
    uint32_t userData[DW_LIDAR_POINT_CLOUD_USER_DATA_SIZE] User defined data.

    ◆ dwLidarPointCloudMapping

    struct dwLidarPointCloudMapping
    Data Fields
    dwLidarAuxDataType auxType[DW_POINT_CLOUD_MAX_AUX_CHANNELS] Map aux channel from SAL to aux channel of a point cloud.
    dwLidarReturnType layerType[DW_POINT_CLOUD_MAX_LAYERS] Map a return type to a layer, i.e.

    put into layer i a return type from SAL indicated by layerType[i]

    uint32_t numAuxChannels
    uint32_t numLayers Number of layers.

    ◆ dwMotionCompensatorParams

    struct dwMotionCompensatorParams
    Data Fields
    bool enableCuda If set the module operate on GPU point clouds.
    dwMotionCompensatorInterpolationStrategy interpolationStrategy Interpolation strategy.
    uint32_t maxPointCloudSize Maximum number of points in input/output point cloud.
    uint32_t motionModelResolution Number of transfomations calculated at equal time intervals between start and the end of a spin.
    bool outputInRigCoordinates If true output points are transformed to rig coordinate system.
    dwTransformation3f pointCloudToRig Transformation aligns the lidar sensor with the platform that produces the egomotion.

    ◆ dwPointCloud

    struct dwPointCloud
    Data Fields
    dwPointCloudAuxChannel auxChannels[DW_POINT_CLOUD_MAX_AUX_CHANNELS]
    uint32_t capacity numLayers * maxPointsPerLayer
    dwPointCloudFormat format Format of a buffer.
    dwTime_t hostEndTimestamp Point cloud end timestamp.
    dwTime_t hostStartTimestamp Point cloud start timestamp.
    dwPointCloudLayer layers[DW_POINT_CLOUD_MAX_LAYERS]
    uint32_t maxPointsPerLayer Maximum number of points in layer (use even number of points to benefit from aligned memory access per layer if each point is 16 bytes long)
    uint32_t numAuxChannels Number of aux channels in a point cloud.
    uint32_t numLayers Number of layers in a point cloud.
    bool organized Flag indicating the data is ordered on the 3D grid.
    void * points Pointer to memory buffer of all points. Not compact, but contiguous with invalid points in between layers.
    uint32_t size Number of points in the cloud including all layers.
    dwTime_t timestamp Time when the point cloud capturing is finished.
    dwMemoryType type Defines type of a memory GPU or CPU.

    ◆ dwPointCloudAssemblerParams

    struct dwPointCloudAssemblerParams
    Data Fields
    bool enableCuda If set to true, assembling to GPU memory.
    dwLidarPointCloudMapping mapping Layers and aux channels mapping.

    ◆ dwPointCloudAuxChannel

    struct dwPointCloudAuxChannel
    Data Fields
    uint32_t channelIdx Channel index the aux data refers to.
    void * data Pointer to the start of the data for this channel.

    Number of elements is the size of the point cloud. To access channel[C] for point I, one would do pc.auxChannels[C].data[I]

    uint32_t elementSize Size in bytes of an element in the aux buffer.
    uint32_t size Number of elements in a channel.

    ◆ dwPointCloudLayer

    struct dwPointCloudLayer
    Data Fields
    uint32_t layerIdx Index of a layer within a point cloud.
    const void * points Pointer to the start of the data for this layer.
    uint32_t size Number of points in a layer (.
    Note
    : points are not compactified, that means there are at most maxPointsPerLayer entries whereby some of them are (0,0,0,0) indicating an invalid point)

    Macro Definition Documentation

    ◆ DW_LIDAR_POINT_CLOUD_USER_DATA_SIZE

    #define DW_LIDAR_POINT_CLOUD_USER_DATA_SIZE   8

    Number of elements in user buffer.

    Definition at line 93 of file LidarPointCloud.h.

    ◆ DW_POINT_CLOUD_MAX_AUX_CHANNELS

    #define DW_POINT_CLOUD_MAX_AUX_CHANNELS   16U

    Definition at line 92 of file PointCloud.h.

    ◆ DW_POINT_CLOUD_MAX_LAYERS

    #define DW_POINT_CLOUD_MAX_LAYERS   16U

    Definition at line 91 of file PointCloud.h.

    Typedef Documentation

    ◆ dwMotionCompensatorConstHandle_t

    typedef struct dwMotionCompensatorObject const* dwMotionCompensatorConstHandle_t

    Definition at line 57 of file MotionCompensator.h.

    ◆ dwMotionCompensatorHandle_t

    typedef struct dwMotionCompensatorObject* dwMotionCompensatorHandle_t

    Definition at line 56 of file MotionCompensator.h.

    ◆ dwPointCloudAssemblerConstHandle_t

    typedef struct dwPointCloudAssemblerObject const* dwPointCloudAssemblerConstHandle_t

    Definition at line 56 of file PointCloudAssembler.h.

    ◆ dwPointCloudAssemblerHandle_t

    typedef struct dwPointCloudAssemblerObject* dwPointCloudAssemblerHandle_t

    Definition at line 55 of file PointCloudAssembler.h.

    Enumeration Type Documentation

    ◆ dwMotionCompensatorInterpolationStrategy

    enum dwMotionCompensatorInterpolationStrategy

    Defines transform interpolation strategy.

    Enumerator
    DW_PC_MOTION_COMPENSATOR_INTERPOLATION_LINEAR 

    Default interpolation strategy applying linear interpolation.

    Definition at line 62 of file MotionCompensator.h.

    ◆ dwPointCloudFormat

    enum dwPointCloudFormat

    Defines point format.

    Enumerator
    DW_POINTCLOUD_FORMAT_XYZI 

    Cartesian 3D coordinate + intensity.

    DW_POINTCLOUD_FORMAT_RTHI 

    Polar 3D coordinate + intensity.

    Definition at line 59 of file PointCloud.h.

    ◆ dwPointCloudReferenceFrame

    enum dwPointCloudReferenceFrame

    Defines point cloud coordinate reference frame.

    Enumerator
    DW_POINTCLOUD_REFERENCE_FRAME_SENSOR 

    Coordinate frame with the sensor at the origin.

    DW_POINTCLOUD_REFERENCE_FRAME_RIG 

    Coordinate frame with the ego vehicle at the origin.

    DW_POINTCLOUD_REFERENCE_FRAME_CUSTOM 

    Custom coordinate reference frame.

    Definition at line 59 of file LidarPointCloud.h.

    Function Documentation

    ◆ dwLidarPointCloud_create()

    DW_API_PUBLIC dwStatus dwLidarPointCloud_create ( dwLidarPointCloud *  lidarPointCloud,
    dwPointCloudFormat const  format,
    dwMemoryType const  memoryType,
    uint32_t const  maxPointsPerReturn,
    dwLidarPointCloudMapping const *  mapping 
    )

    Create lidar specific point cloud.

    Parameters
    [out]lidarPointCloudPoint cloud to be created
    [in]formatPoint cloud format XYZI or RTHI
    [in]memoryTypePoint cloud memory type, CUDA, CPU or PINNED
    [in]maxPointsPerReturnMaximum number of points in single lidar return
    [in]mappingReturn and aux data mapping
    Returns
    DW_SUCCESS
    DW_INVALID_ARGUMENT If provided pointer to point cloud is null
    API Group
    • Init: Yes
    • Runtime: No
    • De-Init: No

    ◆ dwLidarPointCloud_destroy()

    DW_API_PUBLIC dwStatus dwLidarPointCloud_destroy ( dwLidarPointCloud *  lidarPointCloud)

    Destroy lidar specific point cloud.

    Parameters
    [in]lidarPointCloudA pointer to point cloud
    Note
    The call releases all the memory associated with point cloud.
    Returns
    DW_SUCCESS
    DW_INVALID_HANDLE
    API Group
    • Init: Yes
    • Runtime: No
    • De-Init: Yes

    ◆ dwLidarPointCloud_getLidarPointStride()

    DW_API_PUBLIC dwStatus dwLidarPointCloud_getLidarPointStride ( uint32_t *  size,
    dwPointCloudFormat const  format 
    )

    Get the size of the lidar point cloud data type.

    Parameters
    [out]sizenumber of bytes in a point
    [in]formatdescribes the values used to represent a point in a point cloud
    Returns
    DW_SUCCESS
    DW_INVALID_ARGUMENT If provided pointer is null or provided enum is invalid
    API Group
    • Init: Yes
    • Runtime: Yes
    • De-Init: Yes

    ◆ dwMotionCompensator_bindEgomotionState()

    DW_API_PUBLIC dwStatus dwMotionCompensator_bindEgomotionState ( dwConstEgomotionStateHandle_t  motionState,
    dwMotionCompensatorHandle_t  obj 
    )

    Bind egomotion state handle.

    Parameters
    [out]motionStateA handle to egomotion state
    [in]objMotion compensator handle
    Returns
    DW_INVALID_HANDLE - if one of given handles is invalid
    DW_SUCCESS - in all other cases
    API Group
    • Init: Yes
    • Runtime: Yes
    • De-Init: Yes

    ◆ dwMotionCompensator_bindInput()

    DW_API_PUBLIC dwStatus dwMotionCompensator_bindInput ( dwPointCloud const *  pointCloud,
    uint32_t const  timestampChannelIndex,
    dwMotionCompensatorHandle_t  obj 
    )

    Bind input point cloud.

    Parameters
    [out]pointCloudInput point cloud
    [in]timestampChannelIndexIndex of aux channel holding timestamp information
    [in]objMotion compensator handle
    Returns
    DW_INVALID_HANDLE - if one of given handles is invalid
    DW_SUCCESS - in all other cases
    API Group
    • Init: Yes
    • Runtime: Yes
    • De-Init: Yes

    ◆ dwMotionCompensator_bindInputLidarPointCloud()

    DW_API_PUBLIC dwStatus dwMotionCompensator_bindInputLidarPointCloud ( dwLidarPointCloud const *  pointCloud,
    dwMotionCompensatorHandle_t  obj 
    )

    Bind input lidar point cloud.

    Parameters
    [out]pointCloudInput lidar point cloud
    [in]objMotion compensator handle
    Returns
    DW_INVALID_HANDLE - if one of given handles is invalid
    DW_SUCCESS - in all other cases
    API Group
    • Init: Yes
    • Runtime: Yes
    • De-Init: Yes

    ◆ dwMotionCompensator_bindOutput()

    DW_API_PUBLIC dwStatus dwMotionCompensator_bindOutput ( dwPointCloud *  pointCloud,
    dwMotionCompensatorHandle_t  obj 
    )

    Bind output point cloud.

    Parameters
    [out]pointCloudOutput point cloud
    [in]objMotion compensator handle
    Returns
    DW_INVALID_HANDLE - if one of given handles is invalid
    DW_SUCCESS - in all other cases
    API Group
    • Init: Yes
    • Runtime: Yes
    • De-Init: Yes

    ◆ dwMotionCompensator_bindOutputLidarPointCloud()

    DW_API_PUBLIC dwStatus dwMotionCompensator_bindOutputLidarPointCloud ( dwLidarPointCloud *  pointCloud,
    dwMotionCompensatorHandle_t  obj 
    )

    Bind output lidar point cloud.

    Parameters
    [out]pointCloudOutput lidar point cloud
    [in]objMotion compensator handle
    Returns
    DW_INVALID_HANDLE - if one of given handles is invalid
    DW_SUCCESS - in all other cases
    API Group
    • Init: Yes
    • Runtime: Yes
    • De-Init: Yes

    ◆ dwMotionCompensator_getCUDAStream()

    DW_API_PUBLIC dwStatus dwMotionCompensator_getCUDAStream ( cudaStream_t *  stream,
    dwMotionCompensatorConstHandle_t  obj 
    )

    Get CUDA stream of motion compensator.

    Parameters
    [out]streamPointer to CUDA stream handle
    [in]objMotion compensator handle
    Returns
    DW_INVALID_HANDLE - if given handle is invalid
    DW_CALL_NOT_ALLOWED - motion compensator is initialized to process host memory
    DW_SUCCESS - in all other cases
    API Group
    • Init: Yes
    • Runtime: Yes
    • De-Init: Yes

    ◆ dwMotionCompensator_getDefaultParams()

    DW_API_PUBLIC dwStatus dwMotionCompensator_getDefaultParams ( dwMotionCompensatorParams *  params,
    dwLidarProperties const *  lidarProps 
    )

    Get default parameters for motion compensator.

    Parameters
    [out]paramsPointer to parameters structure
    [in]lidarPropsLidar properties the module is supposed to be used with
    Returns
    DW_INVALID_ARGUMENT - if given pointer is NULL
    DW_SUCCESS - in all other cases
    API Group
    • Init: Yes
    • Runtime: Yes
    • De-Init: Yes

    ◆ dwMotionCompensator_initialize()

    DW_API_PUBLIC dwStatus dwMotionCompensator_initialize ( dwMotionCompensatorHandle_t *  obj,
    dwMotionCompensatorParams const *  params,
    dwContextHandle_t  ctx 
    )

    Initialize motion compensator module.

    Parameters
    [out]objPointer to motion compensator handle
    [in]paramsInitialization parameters
    [in]ctxHandle to the context
    Returns
    DW_INVALID_ARGUMENT - if given pointer is NULL
    DW_INVALID_HANDLE - if given handle is invalid
    DW_SUCCESS - in all other cases
    API Group
    • Init: Yes
    • Runtime: No
    • De-Init: No

    ◆ dwMotionCompensator_process()

    DW_API_PUBLIC dwStatus dwMotionCompensator_process ( dwMotionCompensatorHandle_t  obj)

    Perform motion compensation.

    Parameters
    [in]objModule handle
    Returns
    DW_INVALID_HANDLE - if given handle is invalid
    DW_CALL_NOT_ALLOWED - if input or output is not bound or their memory type is different DW_SUCCESS - in all other cases
    API Group
    • Init: Yes
    • Runtime: Yes
    • De-Init: Yes

    ◆ dwMotionCompensator_release()

    DW_API_PUBLIC dwStatus dwMotionCompensator_release ( dwMotionCompensatorHandle_t  obj)

    Release motion compensator.

    Parameters
    [in]objMotion compensator handle
    Returns
    DW_INVALID_HANDLE - if given handle is invalid
    DW_SUCCESS - in all other cases
    API Group
    • Init: Yes
    • Runtime: No
    • De-Init: Yes

    ◆ dwMotionCompensator_reset()

    DW_API_PUBLIC dwStatus dwMotionCompensator_reset ( dwMotionCompensatorHandle_t  obj)

    Reset motion compensator.

    Parameters
    [in]objMotion compensator handle
    Returns
    DW_INVALID_HANDLE - if given handle is invalid
    DW_SUCCESS - in all other cases
    API Group
    • Init: Yes
    • Runtime: Yes
    • De-Init: Yes

    ◆ dwMotionCompensator_setCUDAStream()

    DW_API_PUBLIC dwStatus dwMotionCompensator_setCUDAStream ( const cudaStream_t  stream,
    dwMotionCompensatorHandle_t  obj 
    )

    Set CUDA stream of motion compensator.

    Parameters
    [in]streamHandle to CUDA stream
    [in]objMotion compensator handle
    Returns
    DW_INVALID_HANDLE - if given handle is invalid
    DW_CALL_NOT_ALLOWED - motion compensator is initialized to process host memory
    DW_SUCCESS - in all other cases
    API Group
    • Init: Yes
    • Runtime: Yes
    • De-Init: Yes

    ◆ dwMotionCompensator_setReferenceTimestamp()

    DW_API_PUBLIC dwStatus dwMotionCompensator_setReferenceTimestamp ( dwTime_t const  timestamp,
    dwMotionCompensatorHandle_t  obj 
    )

    Set reference time for motion compensation.

    Parameters
    [out]timestampTimestamp for motion compensation
    [in]objMotion compensator handle
    Returns
    DW_INVALID_HANDLE - if one of given handles is invalid
    DW_SUCCESS - in all other cases
    Note
    By default ending point cloud timestamp is used as a reference
    API Group
    • Init: Yes
    • Runtime: Yes
    • De-Init: Yes

    ◆ dwMotionCompensator_setTransform()

    DW_API_PUBLIC dwStatus dwMotionCompensator_setTransform ( dwTransformation3f const *  transform,
    dwMotionCompensatorHandle_t  obj 
    )

    Update point cloud transformation to egomotion coordinate frame.

    Parameters
    [in]transformTransformation aligning the lidar sensor with the platform that produces the egomotion
    [in]objMotion compensator handle
    Returns
    DW_INVALID_HANDLE - if one of given handles is invalid
    DW_SUCCESS - in all other cases
    API Group
    • Init: Yes
    • Runtime: Yes
    • De-Init: Yes

    ◆ dwPointCloud_create()

    DW_API_PUBLIC dwStatus dwPointCloud_create ( dwPointCloud *  pointCloud,
    dwPointCloudFormat const  format,
    dwMemoryType const  memoryType,
    uint32_t const  maxPointsPerLayer,
    uint32_t const  numRequestedLayers,
    uint32_t const *  auxChannelsElemSize,
    uint32_t const  numRequestedAuxChannels 
    )

    Create point cloud with layers and aux channel information.

    Parameters
    [out]pointCloudPoint cloud to be created
    [in]formatPoint cloud format XYZI or RTHI
    [in]memoryTypePoint cloud memory type, CUDA, CPU or PINNED
    [in]maxPointsPerLayerMaximum number of points in single layer
    [in]numRequestedLayersNumber of layer in a point cloud
    [in]auxChannelsElemSizeAn array of auxiliary channel elements sizes
    [in]numRequestedAuxChannelsNumber of requested aux channels
    Returns
    DW_SUCCESS
    DW_INVALID_ARGUMENT If provided pointer to point cloud is null
    API Group
    • Init: Yes
    • Runtime: No
    • De-Init: No

    ◆ dwPointCloud_createBuffer()

    DW_API_PUBLIC dwStatus dwPointCloud_createBuffer ( dwPointCloud *  buffer)

    Allocates memory for point cloud data structure.

    Parameters
    [out]bufferPointer to dwPointCloud
    Returns
    DW_SUCCESS
    DW_INVALID_ARGUMENT
    Note
    User must specify the followings for the argument buffer:
    1. The member variable capacity to indicate the memory allocation size
    2. The member variable type to indicate the memory type, either host memory or device memory
    Upon successful return, this API will set size to zero to indicate it contains no element in the memory By default this API will set organized to false
    This API does not add any information on point cloud layers and auxiliary channels. Upon successful return numLayers and numAuxChannelsare both set to zero.
    API Group
    • Init: Yes
    • Runtime: No
    • De-Init: No

    ◆ dwPointCloud_destroy()

    DW_API_PUBLIC dwStatus dwPointCloud_destroy ( dwPointCloud *  pointCloud)

    Destroy point cloud buffers.

    Parameters
    [in]pointCloudA pointer to point cloud
    Note
    The call releases all the memory associated with point cloud.
    Returns
    DW_SUCCESS
    DW_INVALID_HANDLE
    API Group
    • Init: Yes
    • Runtime: No
    • De-Init: Yes

    ◆ dwPointCloud_destroyBuffer()

    DW_API_PUBLIC dwStatus dwPointCloud_destroyBuffer ( dwPointCloud *  buffer)

    Destroys allocated memory for point cloud data structure.

    Parameters
    [out]bufferPointer to dwPointCloud
    Returns
    DW_SUCCESS
    DW_INVALID_ARGUMENT
    API Group
    • Init: Yes
    • Runtime: No
    • De-Init: Yes

    ◆ dwPointCloud_getPointStride()

    DW_API_PUBLIC dwStatus dwPointCloud_getPointStride ( uint32_t *  size)

    Get the size of the point cloud data type.

    Parameters
    [out]sizeNumber of bytes in a point
    Returns
    DW_SUCCESS
    DW_INVALID_ARGUMENT If provided pointer to size is null
    API Group
    • Init: Yes
    • Runtime: Yes
    • De-Init: Yes

    ◆ dwPointCloudAssembler_addLidarPacket()

    DW_API_PUBLIC dwStatus dwPointCloudAssembler_addLidarPacket ( dwLidarDecodedPacket const *const  packet,
    dwPointCloudAssemblerHandle_t const  obj 
    )

    Push lidar packet to point cloud assembler.

    Parameters
    [in]packetPointer to decoded lidar packet
    [in]objModule handle
    Returns
    DW_SUCCESS - if successfully added packet
    DW_INVALID_ARGUMENT - the values included in decoded lidar packet do not match the ones in the lidar properties
    API Group
    • Init: Yes
    • Runtime: Yes
    • De-Init: Yes

    ◆ dwPointCloudAssembler_bindLidarPointCloud()

    DW_API_PUBLIC dwStatus dwPointCloudAssembler_bindLidarPointCloud ( dwLidarPointCloud *const  pointCloud,
    dwPointCloudAssemblerHandle_t const  obj 
    )

    Bind output lidar specific point cloud.

    Parameters
    [out]pointCloudLidar point cloud
    [in]objModule handle
    Returns
    DW_SUCCESS - if successfully bound output point cloud
    DW_INVALID_HANDLE - if given handle is invalid
    DW_INVALID_ARGUMENT - if trying to bind GPU point cloud when cuda is not is not enabled at initialization or mapping structure is not correct
    Note
    Mapping structures within a point cloud must match or extend mapping specified at initialization.
    API Group
    • Init: Yes
    • Runtime: Yes
    • De-Init: Yes

    ◆ dwPointCloudAssembler_bindOutput()

    DW_API_PUBLIC dwStatus dwPointCloudAssembler_bindOutput ( dwPointCloud *const  pointCloud,
    dwPointCloudAssemblerHandle_t const  obj 
    )

    Bind output point cloud.

    Parameters
    [out]pointCloudLidar point cloud
    [in]objModule handle
    Returns
    DW_SUCCESS - if successfully bound output point cloud
    DW_INVALID_HANDLE - if given handle is invalid
    DW_INVALID_ARGUMENT - if trying to bind GPU point cloud when cuda is not is not enabled at initialization
    Note
    Output points are either XYZI or RTHI points depending on the format of bound point cloud.
    API Group
    • Init: Yes
    • Runtime: Yes
    • De-Init: Yes

    ◆ dwPointCloudAssembler_getCUDAStream()

    DW_API_PUBLIC dwStatus dwPointCloudAssembler_getCUDAStream ( cudaStream_t *const  stream,
    dwPointCloudAssemblerConstHandle_t const  obj 
    )

    Get CUDA stream of point cloud assembler.

    Parameters
    [out]streamPointer to CUDA stream handle
    [in]objModule handle
    Returns
    DW_INVALID_HANDLE - if given handle is invalid
    DW_CALL_NOT_ALLOWED - point cloud assembler is initialized to process host memory
    DW_SUCCESS
    API Group
    • Init: Yes
    • Runtime: Yes
    • De-Init: Yes

    ◆ dwPointCloudAssembler_getDefaultParams()

    DW_API_PUBLIC dwStatus dwPointCloudAssembler_getDefaultParams ( dwPointCloudAssemblerParams *const  params,
    dwLidarProperties const *const  lidarProperties 
    )

    Get default initialization parameters for specified lidar device.

    Parameters
    [out]paramsInitialization parameters
    [in]lidarPropertiesLidar properties
    Returns
    DW_INVALID_ARGUMENT - if one of the given pointers is NULL
    DW_SUCCESS
    API Group
    • Init: Yes
    • Runtime: Yes
    • De-Init: Yes

    ◆ dwPointCloudAssembler_initialize()

    DW_API_PUBLIC dwStatus dwPointCloudAssembler_initialize ( dwPointCloudAssemblerHandle_t *const  obj,
    dwPointCloudAssemblerParams const *const  params,
    dwLidarProperties const *const  lidarProperties,
    dwContextHandle_t const  ctx 
    )

    Initialize point cloud assembler module.

    Parameters
    [out]objPointer to point cloud assembler handle
    [in]paramsInitialization parameters
    [in]lidarPropertiesInput lidar properties
    [in]ctxHandle to the context
    Returns
    DW_INVALID_ARGUMENT - if one of the given pointers is NULL
    DW_SUCCESS
    API Group
    • Init: Yes
    • Runtime: No
    • De-Init: No

    ◆ dwPointCloudAssembler_isReady()

    DW_API_PUBLIC dwStatus dwPointCloudAssembler_isReady ( bool *const  isReady,
    dwPointCloudAssemblerConstHandle_t const  obj 
    )

    Indicate that lidar frame has been accumulated.

    Parameters
    [out]isReadyIf true frame has been accumulated
    [in]objModule handle
    Returns
    DW_INVALID_HANDLE - if given handle is invalid
    DW_INVALID_ARGUMENT - if provided pointer to a packet is nullptr
    DW_SUCCESS
    API Group
    • Init: Yes
    • Runtime: Yes
    • De-Init: Yes

    ◆ dwPointCloudAssembler_process()

    DW_API_PUBLIC dwStatus dwPointCloudAssembler_process ( dwPointCloudAssemblerHandle_t const  obj)

    Perform processing of accumulated data.

    Parameters
    [in]objModule handle
    Returns
    DW_INVALID_HANDLE - if given handle is invalid
    DW_NOT_READY - if accumulation is not complete, i.e. dwPointCloudAssembler_isReady returns false DW_CALL_NOT_ALLOWED - if output is not bound DW_SUCCESS
    Note
    The function return the most recent full spin in output point cloud.

    Example:

    Arrived packets | First process call | Second process call 0,1,2*,3,4* | {2,3} | DW_NOT_READY 0,1,2*,3,4*,5 | {2,3} | DW_NOT_READY 0,1,2*,3,4*,5,6* | {4,5} | DW_NOT_READY

    where numbers denote packet ids and (*) denotes if the packet has zero crossing flag set to true.

    API Group
    • Init: Yes
    • Runtime: Yes
    • De-Init: Yes

    ◆ dwPointCloudAssembler_release()

    DW_API_PUBLIC dwStatus dwPointCloudAssembler_release ( dwPointCloudAssemblerHandle_t const  obj)

    Release point cloud assembler.

    Parameters
    [in]objModule handle
    Returns
    DW_INVALID_HANDLE - if given handle is invalid
    DW_SUCCESS
    API Group
    • Init: Yes
    • Runtime: No
    • De-Init: Yes

    ◆ dwPointCloudAssembler_reset()

    DW_API_PUBLIC dwStatus dwPointCloudAssembler_reset ( dwPointCloudAssemblerHandle_t const  obj)

    Reset point cloud assembler.

    Parameters
    [in]objModule handle
    Returns
    DW_INVALID_HANDLE - if given handle is invalid
    DW_SUCCESS
    API Group
    • Init: Yes
    • Runtime: Yes
    • De-Init: Yes

    ◆ dwPointCloudAssembler_setCUDAStream()

    DW_API_PUBLIC dwStatus dwPointCloudAssembler_setCUDAStream ( cudaStream_t const  stream,
    dwPointCloudAssemblerHandle_t const  obj 
    )

    Set CUDA stream of point cloud assembler.

    Parameters
    [in]streamHandle to CUDA stream
    [in]objModule handle
    Returns
    DW_INVALID_HANDLE - if given handle is invalid
    DW_CALL_NOT_ALLOWED - point cloud assembler is initialized to process host memory
    DW_SUCCESS
    API Group
    • Init: Yes
    • Runtime: Yes
    • De-Init: Yes
    人人超碰97caoporen国产