• <xmp id="om0om">
  • <table id="om0om"><noscript id="om0om"></noscript></table>
  • Compute Graph Framework SDK Reference  5.8
    All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
    dwLidarPointCloudStitcherNode.hpp
    Go to the documentation of this file.
    1
    2//
    3// Notice
    4// ALL NVIDIA DESIGN SPECIFICATIONS AND CODE ("MATERIALS") ARE PROVIDED "AS IS" NVIDIA MAKES
    5// NO REPRESENTATIONS, WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
    6// THE MATERIALS, AND EXPRESSLY DISCLAIMS ANY IMPLIED WARRANTIES OF NONINFRINGEMENT,
    7// MERCHANTABILITY, OR FITNESS FOR A PARTICULAR PURPOSE.
    8//
    9// NVIDIA CORPORATION & AFFILIATES assumes no responsibility for the consequences of use of such
    10// information or for any infringement of patents or other rights of third parties that may
    11// result from its use. No license is granted by implication or otherwise under any patent
    12// or patent rights of NVIDIA CORPORATION & AFFILIATES. No third party distribution is allowed unless
    13// expressly authorized by NVIDIA. Details are subject to change without notice.
    14// This code supersedes and replaces all information previously supplied.
    15// NVIDIA CORPORATION & AFFILIATES products are not authorized for use as critical
    16// components in life support devices or systems without express written approval of
    17// NVIDIA CORPORATION & AFFILIATES.
    18//
    19// SPDX-FileCopyrightText: Copyright (c) 2020-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
    20// SPDX-License-Identifier: LicenseRef-NvidiaProprietary
    21//
    22// NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
    23// property and proprietary rights in and to this material, related
    24// documentation and any modifications thereto. Any use, reproduction,
    25// disclosure or distribution of this material and related documentation
    26// without an express license agreement from NVIDIA CORPORATION or
    27// its affiliates is strictly prohibited.
    28//
    30
    31#ifndef DW_FRAMEWORK_POINTCLOUD_STITCHERNODE_NODE_HPP_
    32#define DW_FRAMEWORK_POINTCLOUD_STITCHERNODE_NODE_HPP_
    33
    34#include <dwcgf/node/Node.hpp>
    38#include <dwcgf/port/Port.hpp>
    42/* Need to include the appropriate ChannelPacketTypes.hpp since port initialization requires
    43 the parameter_trait overrides. Otherwise, it will be considered as a packet of generic type. */
    45#include <dw/pointcloudprocessing/stitcher/PointCloudStitcher.h>
    46
    47namespace dw
    48{
    49namespace framework
    50{
    51
    53{
    57 dwMemoryType memoryType;
    58 dwPointCloudFormat outputFormat;
    59
    60 cudaStream_t stream;
    61};
    62
    63template <>
    64struct EnumDescription<dwPointCloudFormat>
    65{
    66 static constexpr auto get()
    67 {
    68 return describeEnumeratorCollection<dwPointCloudFormat>(
    69 DW_DESCRIBE_C_ENUMERATOR(DW_POINTCLOUD_FORMAT_XYZI),
    70 DW_DESCRIBE_C_ENUMERATOR(DW_POINTCLOUD_FORMAT_RTHI));
    71 }
    72};
    73
    74template <>
    75struct EnumDescription<dwMemoryType>
    76{
    77 static constexpr auto get()
    78 {
    79 return describeEnumeratorCollection<dwMemoryType>(
    80 DW_DESCRIBE_C_ENUMERATOR(DW_MEMORY_TYPE_CUDA),
    81 DW_DESCRIBE_C_ENUMERATOR(DW_MEMORY_TYPE_CPU),
    82 DW_DESCRIBE_C_ENUMERATOR(DW_MEMORY_TYPE_PINNED));
    83 }
    84};
    85
    90{
    91public:
    92 static constexpr char LOG_TAG[] = "dwLidarPointCloudStitcherNode";
    93
    94 static constexpr auto describeInputPorts()
    95 {
    96 using namespace dw::framework;
    98 DW_DESCRIBE_PORT_ARRAY(dwPointCloud, MAX_LIDAR_STITCHER_PORT_NUM, "LIDAR_PACKETS"_sv),
    100 DW_DESCRIBE_PORT(dwEgomotionStateHandle_t, "EGOMOTION_STATE"_sv));
    101 };
    102
    103 static constexpr auto describeOutputPorts()
    104 {
    105 using namespace dw::framework;
    107 DW_DESCRIBE_PORT(dwPointCloud, "POINT_CLOUD"_sv));
    108 };
    109
    110 static constexpr auto describePasses()
    111 {
    113 describePass("SETUP"_sv, DW_PROCESSOR_TYPE_CPU),
    114 describePass("PROCESS_GPU"_sv, DW_PROCESSOR_TYPE_GPU),
    115 describePass("PROCESS_CPU"_sv, DW_PROCESSOR_TYPE_CPU),
    116 describePass("TEARDOWN"_sv, DW_PROCESSOR_TYPE_CPU));
    117 };
    118
    119 static std::unique_ptr<dwLidarPointCloudStitcherNode> create(ParameterProvider& provider);
    120
    121 static constexpr auto describeParameters()
    122 {
    123 return describeConstructorArguments<dwLidarPointCloudStitcherNodeParams, dwContextHandle_t>(
    126 bool,
    131 dwLidarProperties,
    135 dwTransformation3f,
    140 dwMemoryType,
    141 "memoryType"_sv,
    144 dwPointCloudFormat,
    145 "outputFormat"_sv,
    148 cudaStream_t,
    149 "stream"_sv,
    153 dwContextHandle_t)));
    154 }
    155
    157 dwContextHandle_t ctx);
    158};
    159}
    160}
    161
    162#endif //DW_FRAMEWORK_LIDAR_POINTCLOUD_ACCUMULATOR_NODE_HPP_
    #define DW_DESCRIBE_C_ENUMERATOR(NAME)
    Syntactic sugar calling describeEnumerator().
    #define DW_DESCRIBE_INDEX_PARAMETER(TYPE_NAME, args...)
    #define DW_DESCRIBE_UNNAMED_ARRAY_PARAMETER_WITH_SEMANTIC(TYPE_NAME, SEMANTIC_TYPE_NAME, args...)
    #define DW_DESCRIBE_UNNAMED_PARAMETER(TYPE_NAME, args...)
    #define DW_DESCRIBE_UNNAMED_ARRAY_PARAMETER(TYPE_NAME, args...)
    #define DW_DESCRIBE_PARAMETER(TYPE_NAME, args...)
    #define DW_DESCRIBE_PORT(TYPE_NAME, args...)
    #define DW_DESCRIBE_PORT_ARRAY(TYPE_NAME, ARRAYSIZE, args...)
    The interface to access parameter values identified by name and/or (semantic) type.
    dwLidarPointCloudStitcherNode(const dwLidarPointCloudStitcherNodeParams &, dwContextHandle_t ctx)
    static std::unique_ptr< dwLidarPointCloudStitcherNode > create(ParameterProvider &provider)
    static constexpr uint32_t MAX_LIDAR_STITCHER_PORT_NUM
    dwLidarProperties lidarProperties[MAX_LIDAR_STITCHER_PORT_NUM]
    constexpr auto describePortCollection(Args &&... args)
    dwTransformation3f lidar2RigDefault[MAX_LIDAR_STITCHER_PORT_NUM]
    constexpr std::tuple< dw::core::StringView, dwProcessorType > describePass(dw::core::StringView const &&name, dwProcessorType processorType)
    dwSensorNodeProperties { uint64_t sensorId dwSensorNodeProperties
    constexpr auto describeConstructorArgument(const Args &&... args)
    constexpr auto describePassCollection(const Args &&... args)
    Definition: Exception.hpp:47
    人人超碰97caoporen国产