dwIcpNode.hpp

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#ifndef DW_FRAMEWORK_ICP_NODE_HPP__
#define DW_FRAMEWORK_ICP_NODE_HPP__
 
#include <dwcgf/node/Node.hpp>
#include <dwcgf/pass/PassDescriptor.hpp>
#include <dwcgf/port/Port.hpp>
#include <dwcgf/port/PortDescriptor.hpp>
#include <dwcgf/parameter/ParameterDescriptor.hpp>
#include <dwcgf/parameter/SemanticParameterTypes.hpp>
#include <dwframework/dwnodes/common/PointCloudProcessingCommonTypes.hpp>
/* Need to include the appropriate ChannelPacketTypes.hpp since port initialization requires
   the parameter_trait overrides. Otherwise, it will be considered as a packet of generic type. */
#include <dwframework/dwnodes/common/ChannelPacketTypes.hpp>
#include <dwframework/dwnodes/common/SensorCommonTypes.hpp>
 
namespace dw
{
namespace framework
{
 
using dwIcpNodeParams = struct dwIcpNodeParams
{
    dwRigHandle_t rigHandle;
    bool enable;
    uint32_t sensorIndex;
    uint32_t lidarMaxICPIterations;
    uint32_t accumulatorDownsampleFactor;
    bool lidarICPUsesEgomotion;
    dwLidarProperties lidarProps;
    cudaStream_t cudaStream;
};
 
class dwIcpNode : public ExceptionSafeProcessNode
{
public:
    static constexpr char LOG_TAG[] = "dwIcpNode";
 
    static constexpr auto describeInputPorts()
    {
        return describePortCollection(
            DW_DESCRIBE_PORT(dwEgomotionStateHandle_t, "EGOMOTION_STATE_ODO_IMU"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT(dwPointCloud, "LIDAR_POINT_CLOUD"_sv));
    }
 
    static constexpr auto describeOutputPorts()
    {
        return describePortCollection(
            DW_DESCRIBE_PORT(dwLidarPose, "LIDAR_POSE"_sv));
    }
 
    static constexpr auto describePasses()
    {
        return describePassCollection(
            describePass("SETUP"_sv, DW_PROCESSOR_TYPE_CPU),
            describePass("PASS_PROCESS_ICP_GPU_ASYNC"_sv, DW_PROCESSOR_TYPE_GPU),
            describePass("PASS_PROCESS_ICP_CPU_SYNC"_sv, DW_PROCESSOR_TYPE_CPU),
            describePass("TEARDOWN"_sv, DW_PROCESSOR_TYPE_CPU));
    }
 
    static constexpr auto describeParameters()
    {
        return describeConstructorArguments<dwIcpNodeParams, dwContextHandle_t>(
            describeConstructorArgument(
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwRigHandle_t,
                    &dwIcpNodeParams::rigHandle),
                DW_DESCRIBE_INDEX_PARAMETER_WITH_SEMANTIC(
                    uint32_t,
                    semantic_parameter_types::LidarRigIdx,
                    "lidarIndex"_sv,
                    &dwIcpNodeParams::sensorIndex),
                DW_DESCRIBE_PARAMETER(
                    bool,
                    "enable"_sv,
                    &dwIcpNodeParams::enable),
                DW_DESCRIBE_PARAMETER(
                    uint32_t,
                    "lidarMaxICPIterations"_sv,
                    &dwIcpNodeParams::lidarMaxICPIterations),
                DW_DESCRIBE_PARAMETER(
                    uint32_t,
                    "accumulatorDownsampleFactor"_sv,
                    &dwIcpNodeParams::accumulatorDownsampleFactor),
                DW_DESCRIBE_PARAMETER(
                    bool,
                    "lidarICPUsesEgomotion"_sv,
                    &dwIcpNodeParams::lidarICPUsesEgomotion),
                DW_DESCRIBE_INDEX_PARAMETER(
                    dwLidarProperties,
                    "lidarIndex"_sv,
                    &dwIcpNodeParams::lidarProps),
                DW_DESCRIBE_INDEX_PARAMETER(
                    cudaStream_t,
                    "cudaStreamIndex"_sv,
                    &dwIcpNodeParams::cudaStream)),
            describeConstructorArgument(
                DW_DESCRIBE_UNNAMED_PARAMETER(dwContextHandle_t)));
    }
 
    static std::unique_ptr<dwIcpNode> create(ParameterProvider& provider);
 
    dwIcpNode(const dwIcpNodeParams& param, const dwContextHandle_t ctx);
};
 
} // namespace framework
} // namespace dw
 
#endif // DW_FRAMEWORK_ICP_NODE_HPP__