Point Cloud Range Image Creator

Detailed Description

Defines module to produce range image via spherical projection of the point cloud.

Data Structures
struct	dwPointCloudRangeImageClippingParams
	Defines range image clipping parameters. More...
struct	dwPointCloudRangeImageCreatorParams
	Defines point cloud range image creator parameters. More...

Typedefs
typedef const struct dwPointCloudRangeImageCreatorObject *	dwConstPointCloudRangeImageCreatorHandle_t
typedef struct dwPointCloudRangeImageCreatorObject *	dwPointCloudRangeImageCreatorHandle_t

Enumerations
enum	dwPointCloudRangeImageType {   DW_POINT_CLOUD_IMAGE_TYPE_DISTANCE = 0 ,   DW_POINT_CLOUD_IMAGE_TYPE_INTENSITY = 1 ,   DW_POINT_CLOUD_IMAGE_TYPE_2D_GRID = 2 }
	Definition of the image type of Lidar cylindrical projection image. More...

Functions
DW_API_PUBLIC dwStatus	dwPCRangeImageCreator_bindInput (dwPointCloud const *const pointCloud, dwPointCloudRangeImageCreatorHandle_t const obj)
	Binds input point cloud to range image creator. More...
DW_API_PUBLIC dwStatus	dwPCRangeImageCreator_bindOutput (dwImageHandle_t const image, dwPointCloudRangeImageCreatorHandle_t const obj)
	Binds output range image to range image creator. More...
DW_API_PUBLIC dwStatus	dwPCRangeImageCreator_bindPointCloudOutput (dwPointCloud *const pointCloud, dwPointCloudRangeImageCreatorHandle_t const obj)
	Binds output point cloud to range image creator. More...
DW_API_PUBLIC dwStatus	dwPCRangeImageCreator_getCUDAStream (cudaStream_t *const stream, dwConstPointCloudRangeImageCreatorHandle_t const obj)
	Gets CUDA stream of range image creator. More...
DW_API_PUBLIC dwStatus	dwPCRangeImageCreator_getDefaultParams (dwPointCloudRangeImageCreatorParams *const params)
	Gets default range image creator parameters. More...
DW_API_PUBLIC dwStatus	dwPCRangeImageCreator_getImageProperties (dwImageProperties *const imageProperties, dwConstPointCloudRangeImageCreatorHandle_t const obj)
	Get properties of an image to bind as an output. More...
DW_API_PUBLIC dwStatus	dwPCRangeImageCreator_initialize (dwPointCloudRangeImageCreatorHandle_t *const obj, dwPointCloudRangeImageCreatorParams const *const params, dwContextHandle_t const ctx)
	Initializes range image creator. More...
DW_API_PUBLIC dwStatus	dwPCRangeImageCreator_process (dwPointCloudRangeImageCreatorHandle_t const obj)
	Organizes input point cloud and projects on the spherical coordinate to form a range image. More...
DW_API_PUBLIC dwStatus	dwPCRangeImageCreator_release (dwPointCloudRangeImageCreatorHandle_t const obj)
	Releases range image creator. More...
DW_API_PUBLIC dwStatus	dwPCRangeImageCreator_reset (dwPointCloudRangeImageCreatorHandle_t const obj)
	Resets range image creator. More...
DW_API_PUBLIC dwStatus	dwPCRangeImageCreator_setCUDAStream (cudaStream_t const stream, dwPointCloudRangeImageCreatorHandle_t const obj)
	Sets CUDA stream of range image creator. More...
DW_API_PUBLIC dwStatus	dwPointCloudRangeImageCreator_bindInput (dwPointCloud const *const pointCloud, dwPointCloudRangeImageCreatorHandle_t const obj)
	Binds input point cloud to range image creator. More...
DW_API_PUBLIC dwStatus	dwPointCloudRangeImageCreator_bindOutput (dwImageHandle_t const image, dwPointCloudRangeImageCreatorHandle_t const obj)
	Binds output range image to range image creator. More...
DW_API_PUBLIC dwStatus	dwPointCloudRangeImageCreator_bindOutputPointCloud (dwPointCloud *const pointCloud, dwPointCloudRangeImageCreatorHandle_t const obj)
	Binds output point cloud to range image creator. More...
DW_API_PUBLIC dwStatus	dwPointCloudRangeImageCreator_getCUDAStream (cudaStream_t *const stream, dwConstPointCloudRangeImageCreatorHandle_t const obj)
	Gets CUDA stream of range image creator. More...
DW_API_PUBLIC dwStatus	dwPointCloudRangeImageCreator_getDefaultParams (dwPointCloudRangeImageCreatorParams *const params)
	Gets default range image creator parameters. More...
DW_API_PUBLIC dwStatus	dwPointCloudRangeImageCreator_getImageProperties (dwImageProperties *const imageProperties, dwConstPointCloudRangeImageCreatorHandle_t const obj)
	Get properties of an image to bind as an output. More...
DW_API_PUBLIC dwStatus	dwPointCloudRangeImageCreator_initialize (dwPointCloudRangeImageCreatorHandle_t *const obj, dwPointCloudRangeImageCreatorParams const *const params, dwContextHandle_t const ctx)
	Initializes range image creator. More...
DW_API_PUBLIC dwStatus	dwPointCloudRangeImageCreator_process (dwPointCloudRangeImageCreatorHandle_t const obj)
	Organizes input point cloud and projects on the spherical coordinate to form a range image. More...
DW_API_PUBLIC dwStatus	dwPointCloudRangeImageCreator_release (dwPointCloudRangeImageCreatorHandle_t const obj)
	Releases range image creator. More...
DW_API_PUBLIC dwStatus	dwPointCloudRangeImageCreator_reset (dwPointCloudRangeImageCreatorHandle_t const obj)
	Resets range image creator. More...
DW_API_PUBLIC dwStatus	dwPointCloudRangeImageCreator_setCUDAStream (cudaStream_t const stream, dwPointCloudRangeImageCreatorHandle_t const obj)
	Sets CUDA stream of range image creator. More...

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Data Structure Documentation

dwPointCloudRangeImageClippingParams

struct dwPointCloudRangeImageClippingParams

Data Fields
float32_t	farDist	Maximum distance.
float32_t	maxAzimuthRadians	Maximum yaw angle.
float32_t	maxElevationRadians	Maximum pitch angle.
float32_t	minAzimuthRadians	Mimimum yaw angle.
float32_t	minElevationRadians	Mimimum pitch angle.
float32_t	nearDist	Minimum distance.
dwOrientedBoundingBox3f	orientedBoundingBox	Bounding box identifying clipping planes.

dwPointCloudRangeImageCreatorParams

struct dwPointCloudRangeImageCreatorParams

Data Fields
dwPointCloudRangeImageClippingParams	clippingParams	Clipping parameters.
uint32_t	height	Output image height.
uint32_t	maxInputPoints	Maximum number of point in input point cloud.
dwMemoryType	memoryType	Memory type, CUDA or CPU.
dwTransformation3f	transformation	Transformation applied to input points, if 0, identity will be used.
dwPointCloudRangeImageType	type	Range image type.
uint32_t	width	Output image width.

Typedef Documentation

dwConstPointCloudRangeImageCreatorHandle_t

typedef const struct dwPointCloudRangeImageCreatorObject* dwConstPointCloudRangeImageCreatorHandle_t

Definition at line 60 of file PointCloudRangeImageCreator.h.

dwPointCloudRangeImageCreatorHandle_t

typedef struct dwPointCloudRangeImageCreatorObject* dwPointCloudRangeImageCreatorHandle_t

Definition at line 59 of file PointCloudRangeImageCreator.h.

Enumeration Type Documentation

dwPointCloudRangeImageType

enum dwPointCloudRangeImageType

Definition of the image type of Lidar cylindrical projection image.

Enumerator
DW_POINT_CLOUD_IMAGE_TYPE_DISTANCE	R_FLOAT32 image where each pixel is the 3D distance in XYZ space.
DW_POINT_CLOUD_IMAGE_TYPE_INTENSITY	R_FLOAT32 image where each pixel is the Lidar intensity.
DW_POINT_CLOUD_IMAGE_TYPE_2D_GRID	RGBA_FLOAT32 image where each pixel is a tuple of 3D Lidar coordinate and intensity.

Definition at line 63 of file PointCloudRangeImageCreator.h.

Function Documentation

dwPCRangeImageCreator_bindInput()

DW_API_PUBLIC dwStatus dwPCRangeImageCreator_bindInput	(	dwPointCloud const *const	pointCloud,
		dwPointCloudRangeImageCreatorHandle_t const	obj
	)

Binds input point cloud to range image creator.

Parameters

[in]	pointCloud	Pointer to input buffer
[in]	obj	Handle to range image creator

Returns

DW_SUCCESS
DW_INVALID_HANDLE If neither of given handle is valid
DW_INVALID_ARGUMENT If point cloud input is nullptr

API Group

• Init: Yes
• Runtime: Yes
• De-Init: Yes

dwPCRangeImageCreator_bindOutput()

DW_API_PUBLIC dwStatus dwPCRangeImageCreator_bindOutput	(	dwImageHandle_t const	image,
		dwPointCloudRangeImageCreatorHandle_t const	obj
	)

Binds output range image to range image creator.

Parameters

[in]	image	Handle to output range image
[in]	obj	Handle to range image creator

Returns

DW_SUCCESS
DW_INVALID_HANDLE If neither of given handle is valid
DW_INVALID_ARGUMENT If image is nullptr, image properties are not correct or memory type of input/output is inconsistent.

API Group

• Init: Yes
• Runtime: Yes
• De-Init: Yes

dwPCRangeImageCreator_bindPointCloudOutput()

DW_API_PUBLIC dwStatus dwPCRangeImageCreator_bindPointCloudOutput	(	dwPointCloud *const	pointCloud,
		dwPointCloudRangeImageCreatorHandle_t const	obj
	)

Binds output point cloud to range image creator.

Parameters

[in]	pointCloud	Pointer to output point cloud. If null provided, any currently bound point cloud will be unbound
[in]	obj	Handle to range image creator

Returns

DW_SUCCESS
DW_INVALID_HANDLE If given handle is not valid
DW_INVALID_ARGUMENT If memory type or size of input/output is inconsistent.

Note

Output point cloud is optional. It may be used in couple with DW_POINT_CLOUD_IMAGE_TYPE_DISTANCE or DW_POINT_CLOUD_IMAGE_TYPE_INTENSITY image to organize points of input point cloud. Makes sense for unorganized input only.

API Group

• Init: Yes
• Runtime: Yes
• De-Init: Yes

dwPCRangeImageCreator_getCUDAStream()

DW_API_PUBLIC dwStatus dwPCRangeImageCreator_getCUDAStream	(	cudaStream_t *const	stream,
		dwConstPointCloudRangeImageCreatorHandle_t const	obj
	)

Gets CUDA stream of range image creator.

Parameters

[out]	stream	Pointer to CUDA stream handle
[in]	obj	Handle to range image creator

Returns

DW_SUCCESS
DW_INVALID_ARGUMENT if given stream pointer is invalid
DW_INVALID_HANDLE If given handle is valid

API Group

• Init: Yes
• Runtime: Yes
• De-Init: Yes

dwPCRangeImageCreator_getDefaultParams()

DW_API_PUBLIC dwStatus dwPCRangeImageCreator_getDefaultParams

(

dwPointCloudRangeImageCreatorParams *const

params

)

Gets default range image creator parameters.

Parameters

[out]

params

Pointer to range image creator parameters

Returns

DW_SUCCESS
DW_INVALID_ARGUMENT if given param pointer is invalid

API Group

• Init: Yes
• Runtime: Yes
• De-Init: Yes

dwPCRangeImageCreator_getImageProperties()

DW_API_PUBLIC dwStatus dwPCRangeImageCreator_getImageProperties	(	dwImageProperties *const	imageProperties,
		dwConstPointCloudRangeImageCreatorHandle_t const	obj
	)

Get properties of an image to bind as an output.

Parameters

[out]	imageProperties	Pointer to image properties
[in]	obj	Handle to range image creator

Returns

DW_SUCCESS
DW_INVALID_HANDLE If given handle is valid
DW_INVALID_ARGUMENT If imageProperties in null

API Group

• Init: Yes
• Runtime: Yes
• De-Init: Yes

dwPCRangeImageCreator_initialize()

DW_API_PUBLIC dwStatus dwPCRangeImageCreator_initialize	(	dwPointCloudRangeImageCreatorHandle_t *const	obj,
		dwPointCloudRangeImageCreatorParams const *const	params,
		dwContextHandle_t const	ctx
	)

Initializes range image creator.

Parameters

[out]	obj	Pointer to range image creator handle
[in]	params	Pointer to range image creator parameters
[in]	ctx	Handle to the context

Returns

DW_SUCCESS
DW_INVALID_ARGUMENT If given parameter pointer is invalid
DW_INVALID_HANDLE If given handle is valid

API Group

• Init: Yes
• Runtime: No
• De-Init: No

dwPCRangeImageCreator_process()

DW_API_PUBLIC dwStatus dwPCRangeImageCreator_process

(

dwPointCloudRangeImageCreatorHandle_t const

obj

)

Organizes input point cloud and projects on the spherical coordinate to form a range image.

If bound point cloud is already organized, the data is simply copied into output range image.

Parameters

[in]

obj

Handle to range image creator

Returns

DW_SUCCESS
DW_INVALID_HANDLE If given handle is not valid
DW_CALL_NOT_ALLOWED If no input/output buffer is bound

API Group

• Init: Yes
• Runtime: Yes
• De-Init: Yes

dwPCRangeImageCreator_release()

DW_API_PUBLIC dwStatus dwPCRangeImageCreator_release

(

dwPointCloudRangeImageCreatorHandle_t const

obj

)

Releases range image creator.

Parameters

[in]

obj

Handle to range image creator

Returns

DW_SUCCESS
DW_INVALID_HANDLE If given handle is valid

API Group

• Init: Yes
• Runtime: No
• De-Init: Yes

dwPCRangeImageCreator_reset()

DW_API_PUBLIC dwStatus dwPCRangeImageCreator_reset

(

dwPointCloudRangeImageCreatorHandle_t const

obj

)

Resets range image creator.

Parameters

[in]

obj

Handle to range image creator

Returns

DW_SUCCESS
DW_INVALID_HANDLE If given handle is valid

API Group

• Init: Yes
• Runtime: Yes
• De-Init: Yes

dwPCRangeImageCreator_setCUDAStream()

DW_API_PUBLIC dwStatus dwPCRangeImageCreator_setCUDAStream	(	cudaStream_t const	stream,
		dwPointCloudRangeImageCreatorHandle_t const	obj
	)

Sets CUDA stream of range image creator.

Parameters

[in]	stream	Handle to CUDA stream
[in]	obj	Handle to range image creator

Returns

DW_SUCCESS
DW_INVALID_HANDLE If given handle is valid

API Group

• Init: Yes
• Runtime: Yes
• De-Init: Yes

dwPointCloudRangeImageCreator_bindInput()

DW_API_PUBLIC dwStatus dwPointCloudRangeImageCreator_bindInput	(	dwPointCloud const *const	pointCloud,
		dwPointCloudRangeImageCreatorHandle_t const	obj
	)

Binds input point cloud to range image creator.

Parameters

[in]	pointCloud	Pointer to input buffer
[in]	obj	Handle to range image creator

Returns

DW_SUCCESS
DW_INVALID_HANDLE If neither of given handle is valid
DW_INVALID_ARGUMENT If point cloud input is nullptr

dwPointCloudRangeImageCreator_bindOutput()

DW_API_PUBLIC dwStatus dwPointCloudRangeImageCreator_bindOutput	(	dwImageHandle_t const	image,
		dwPointCloudRangeImageCreatorHandle_t const	obj
	)

Binds output range image to range image creator.

Parameters

[in]	image	Handle to output range image
[in]	obj	Handle to range image creator

Returns

DW_SUCCESS
DW_INVALID_HANDLE If neither of given handle is valid
DW_INVALID_ARGUMENT If image is nullptr, image properties are not correct or memory type of input/output is inconsistent.

dwPointCloudRangeImageCreator_bindOutputPointCloud()

DW_API_PUBLIC dwStatus dwPointCloudRangeImageCreator_bindOutputPointCloud	(	dwPointCloud *const	pointCloud,
		dwPointCloudRangeImageCreatorHandle_t const	obj
	)

Binds output point cloud to range image creator.

Parameters

[in]	pointCloud	Pointer to output point cloud. If null provided, any currently bound point cloud will be unbound
[in]	obj	Handle to range image creator

Returns

DW_SUCCESS
DW_INVALID_HANDLE If given handle is not valid
DW_INVALID_ARGUMENT If memory type or size of input/output is inconsistent.

Note

Output point cloud is optional. It may be used in couple with DW_POINT_CLOUD_IMAGE_TYPE_DISTANCE or DW_POINT_CLOUD_IMAGE_TYPE_INTENSITY image to organize points of input point cloud. Makes sense for unorganized input only.

dwPointCloudRangeImageCreator_getCUDAStream()

DW_API_PUBLIC dwStatus dwPointCloudRangeImageCreator_getCUDAStream	(	cudaStream_t *const	stream,
		dwConstPointCloudRangeImageCreatorHandle_t const	obj
	)

Gets CUDA stream of range image creator.

Parameters

[out]	stream	Pointer to CUDA stream handle
[in]	obj	Handle to range image creator

Returns

DW_SUCCESS
DW_INVALID_ARGUMENT if given stream pointer is invalid
DW_INVALID_HANDLE If given handle is valid

dwPointCloudRangeImageCreator_getDefaultParams()

DW_API_PUBLIC dwStatus dwPointCloudRangeImageCreator_getDefaultParams

(

dwPointCloudRangeImageCreatorParams *const

params

)

Gets default range image creator parameters.

Parameters

[out]

params

Pointer to range image creator parameters

Returns

DW_SUCCESS
DW_INVALID_ARGUMENT if given param pointer is invalid

dwPointCloudRangeImageCreator_getImageProperties()

DW_API_PUBLIC dwStatus dwPointCloudRangeImageCreator_getImageProperties	(	dwImageProperties *const	imageProperties,
		dwConstPointCloudRangeImageCreatorHandle_t const	obj
	)

Get properties of an image to bind as an output.

Parameters

[out]	imageProperties	Pointer to image properties
[in]	obj	Handle to range image creator

Returns

DW_SUCCESS
DW_INVALID_HANDLE If given handle is valid
DW_INVALID_ARGUMENT If imageProperties in null

dwPointCloudRangeImageCreator_initialize()

DW_API_PUBLIC dwStatus dwPointCloudRangeImageCreator_initialize	(	dwPointCloudRangeImageCreatorHandle_t *const	obj,
		dwPointCloudRangeImageCreatorParams const *const	params,
		dwContextHandle_t const	ctx
	)

Initializes range image creator.

Parameters

[out]	obj	Pointer to range image creator handle
[in]	params	Pointer to range image creator parameters
[in]	ctx	Handle to the context

Returns

DW_SUCCESS
DW_INVALID_ARGUMENT If given parameter pointer is invalid
DW_INVALID_HANDLE If given handle is valid

dwPointCloudRangeImageCreator_process()

DW_API_PUBLIC dwStatus dwPointCloudRangeImageCreator_process

(

dwPointCloudRangeImageCreatorHandle_t const

obj

)

Organizes input point cloud and projects on the spherical coordinate to form a range image.

If bound point cloud is already organized, the data is simply copied into output range image.

Parameters

[in]

obj

Handle to range image creator

Returns

DW_SUCCESS
DW_INVALID_HANDLE If given handle is not valid
DW_CALL_NOT_ALLOWED If no input/output buffer is bound

dwPointCloudRangeImageCreator_release()

DW_API_PUBLIC dwStatus dwPointCloudRangeImageCreator_release

(

dwPointCloudRangeImageCreatorHandle_t const

obj

)

Releases range image creator.

Parameters

[in]

obj

Handle to range image creator

Returns

DW_SUCCESS
DW_INVALID_HANDLE If given handle is valid

dwPointCloudRangeImageCreator_reset()

DW_API_PUBLIC dwStatus dwPointCloudRangeImageCreator_reset

(

dwPointCloudRangeImageCreatorHandle_t const

obj

)

Resets range image creator.

Parameters

[in]

obj

Handle to range image creator

Returns

DW_SUCCESS
DW_INVALID_HANDLE If given handle is valid

dwPointCloudRangeImageCreator_setCUDAStream()

DW_API_PUBLIC dwStatus dwPointCloudRangeImageCreator_setCUDAStream	(	cudaStream_t const	stream,
		dwPointCloudRangeImageCreatorHandle_t const	obj
	)

Sets CUDA stream of range image creator.

Parameters

[in]	stream	Handle to CUDA stream
[in]	obj	Handle to range image creator

Returns

DW_SUCCESS
DW_INVALID_HANDLE If given handle is valid