Rig.h File Reference

Detailed Description

NVIDIA DriveWorks API: Rig Configuration

Description: This file defines vehicle rig configuration methods.

Definition in file Rig.h.

Go to the source code of this file.

Data Structures
struct	dwFThetaCameraConfig
	DEPRECATED: Configuration parameters for a calibrated FTheta camera. More...
struct	dwFThetaCameraConfigNew
	Configuration parameters for a calibrated FTheta camera. More...
struct	dwOCamCameraConfig
	DEPRECATED: Configuration parameters for a calibrated ominidirectional (OCam) sphere camera. More...
struct	dwPinholeCameraConfig
	Configuration parameters for a calibrated pinhole camera. More...
struct	dwStereographicCameraConfig
	Configuration parameters for a calibrated stereographic camera. More...

Macros
#define	DW_FTHETA_POLY_LENGTH   6U
	Defines the number of distortion coefficients for the ftheta camera model. More...
#define	DW_MAX_EXTRINSIC_PROFILE_NAME_SIZE   64U
	Defines the maximum length of a sensor extrinsic profile name. More...
#define	DW_MAX_RIG_CAMERA_COUNT   DW_MAX_RIG_SENSOR_COUNT
	Defines the maximum number of cameras in a rig. More...
#define	DW_MAX_RIG_SENSOR_COUNT   128U
	Defines the maximum number of sensors in a rig. More...
#define	DW_MAX_RIG_SENSOR_NAME_SIZE   64U
	Defines the maximum length of a sensor name in a rig. More...
#define	DW_OCAM_POLY_LENGTH   5U
	Defines the number of distortion coefficients for the OCAM camera model. More...
#define	DW_PINHOLE_DISTORTION_LENGTH   3U
	Defines the number of distortion coefficients for the pinhole camera model. More...
#define	MAX_EXTRINSIC_PROFILE_COUNT   3U
	maximal number of extrinsic profiles per sensor. More...

Typedefs
typedef struct dwRigObject const *	dwConstRigHandle_t
typedef struct dwRigObject *	dwRigHandle_t
	Handle representing the Rig interface. More...

Enumerations
enum	dwCameraModel {   DW_CAMERA_MODEL_OCAM = 0 ,   DW_CAMERA_MODEL_PINHOLE = 1 ,   DW_CAMERA_MODEL_FTHETA = 2 }
	Specifies the supported optical camera models. More...
enum	dwFThetaCameraPolynomialType {   DW_FTHETA_CAMERA_POLYNOMIAL_TYPE_PIXELDISTANCE_TO_ANGLE = 0 ,   DW_FTHETA_CAMERA_POLYNOMIAL_TYPE_ANGLE_TO_PIXELDISTANCE }
	Type of polynomial stored in FTheta. More...

Functions
DW_API_PUBLIC dwStatus	dwRig_addOrSetPropertyByName (char8_t const *const propertyValue, char8_t const *const propertyName, dwRigHandle_t const obj)
	Overwrite content of an existing rig property. More...
DW_API_PUBLIC dwStatus	dwRig_addOrSetSensorPropertyByName (char8_t const *const propertyValue, char8_t const *const propertyName, uint32_t const sensorId, dwRigHandle_t const obj)
	Overwrite content of an existing sensor property. More...
DW_API_PUBLIC dwStatus	dwRig_findSensorByName (uint32_t *const sensorId, char8_t const *const sensorName, dwConstRigHandle_t const obj)
	Finds the sensor with the given name and returns its index. More...
DW_API_PUBLIC dwStatus	dwRig_findSensorByTypeIndex (uint32_t *const sensorId, dwSensorType const sensorType, uint32_t const sensorTypeIndex, dwConstRigHandle_t const obj)
	Finds the absolute sensor index of the Nth sensor of a given type. More...
DW_API_PUBLIC dwStatus	dwRig_findSensorIdFromVehicleIOId (uint32_t *const sensorId, uint32_t const vehicleIOId, dwConstRigHandle_t const obj)
	Finds a sensor with the given vehicleIO ID and returns the index. More...
DW_API_PUBLIC dwStatus	dwRig_getCameraModel (dwCameraModel *const cameraModel, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets the model type of the camera intrinsics. More...
DW_API_PUBLIC dwStatus	dwRig_getCameraTimestampPath (char8_t const **const timestampPath, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets path to camera timestamp file. More...
DW_API_PUBLIC dwStatus	dwRig_getFThetaCameraConfig (dwFThetaCameraConfig *const config, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets the parameters of the FTheta camera model. More...
DW_API_PUBLIC dwStatus	dwRig_getFThetaCameraConfigNew (dwFThetaCameraConfigNew *const config, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets the parameters of the FTheta camera model. More...
DW_API_PUBLIC dwStatus	dwRig_getGenericVehicle (dwGenericVehicle *const vehicle, dwConstRigHandle_t const obj)
	Gets the properties of a generic vehicle (car or truck). More...
DW_API_PUBLIC dwStatus	dwRig_getNominalSensorToRigTransformation (dwTransformation3f *const transformation, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets the nominal sensor to rig transformation for a sensor. More...
DW_API_PUBLIC dwStatus	dwRig_getNominalSensorToSensorTransformation (dwTransformation3f *const transformation, uint32_t const sensorIdFrom, uint32_t const sensorIdTo, dwConstRigHandle_t const obj)
	Gets the nominal sensor to sensor transformation for a pair of sensors. More...
DW_API_PUBLIC dwStatus	dwRig_getOCamCameraConfig (dwOCamCameraConfig *const config, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets the parameters of the OCam camera model. More...
DW_API_PUBLIC dwStatus	dwRig_getPinholeCameraConfig (dwPinholeCameraConfig *const config, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets the parameters of the Pinhole camera model. More...
DW_API_PUBLIC dwStatus	dwRig_getPropertyByName (char8_t const **const propertyValue, char8_t const *const propertyName, dwConstRigHandle_t const obj)
	Returns property stored inside of rig. More...
DW_API_PUBLIC dwStatus	dwRig_getSensorCount (uint32_t *const sensorCount, dwConstRigHandle_t const obj)
	Gets the number of all available sensors. More...
DW_API_PUBLIC dwStatus	dwRig_getSensorCountOfType (uint32_t *const sensorCount, dwSensorType const sensorType, dwConstRigHandle_t const obj)
	Find number of sensors of a given type. More...
DW_API_PUBLIC dwStatus	dwRig_getSensorDataPath (char8_t const **const dataPath, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets path to sensor recording. More...
DW_API_PUBLIC dwStatus	dwRig_getSensorFLUToRigTransformation (dwTransformation3f *const transformation, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets the sensor FLU to rig transformation for a sensor. More...
DW_API_PUBLIC dwStatus	dwRig_getSensorName (char8_t const **const sensorName, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets the name of a sensor as given in the configuration. More...
DW_API_PUBLIC dwStatus	dwRig_getSensorParameter (char8_t const **const sensorParameter, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets the parameter string for a sensor. More...
DW_API_PUBLIC dwStatus	dwRig_getSensorParameterUpdatedPath (char8_t const **const sensorParameter, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets the parameter string for a sensor with any path described by file=,video=,timestamp= property modified to be in respect to the current rig file's directory (if initializing a rig from file), or in respect to the relativeBasePath (when initializing a rig from string). More...
DW_API_PUBLIC dwStatus	dwRig_getSensorPropertyByName (char8_t const **const propertyValue, char8_t const *const propertyName, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Returns property stored inside of a sensor. More...
DW_API_PUBLIC dwStatus	dwRig_getSensorProtocol (char8_t const **const sensorProtocol, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets the protocol string of a sensor. More...
DW_API_PUBLIC dwStatus	dwRig_getSensorToRigTransformation (dwTransformation3f *const transformation, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets the sensor to rig transformation for a sensor. More...
DW_API_PUBLIC dwStatus	dwRig_getSensorToSensorTransformation (dwTransformation3f *const transformation, uint32_t const sensorIdFrom, uint32_t const sensorIdTo, dwConstRigHandle_t const obj)
	Gets the sensor to sensor transformation for a pair of sensors. More...
DW_API_PUBLIC dwStatus	dwRig_getSensorType (dwSensorType *const sensorType, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Returns the type of sensor based upon the sensorID sent into the method. More...
DW_API_PUBLIC dwStatus	dwRig_getVehicle (dwVehicle const **const vehicle, dwConstRigHandle_t const obj)
	DEPRECATED: Gets the properties of a passenger car vehicle. More...
DW_API_PUBLIC dwStatus	dwRig_getVehicleIOConfigCount (uint32_t *const vioConfigCount, dwConstRigHandle_t const obj)
	Gets the number of vehicle IO sensors. More...
DW_API_PUBLIC dwStatus	dwRig_initializeFromFile (dwRigHandle_t *const obj, dwContextHandle_t const ctx, char8_t const *const configurationFile)
	Initializes the Rig Configuration module from a file. More...
DW_API_PUBLIC dwStatus	dwRig_initializeFromString (dwRigHandle_t *const obj, dwContextHandle_t const ctx, char8_t const *const configurationString, char8_t const *const relativeBasePath)
	Initializes the Rig Configuration module from a string. More...
DW_API_PUBLIC dwStatus	dwRig_release (dwRigHandle_t const obj)
	Releases the Rig Configuration module. More...
DW_API_PUBLIC dwStatus	dwRig_reset (dwRigHandle_t const obj)
	Resets the Rig Configuration module. More...
DW_API_PUBLIC dwStatus	dwRig_serializeToFile (char8_t const *const configurationFile, dwConstRigHandle_t const obj)
	This method serializes the rig-configuration object to a human-readable rig-configuration file. More...
DW_API_PUBLIC dwStatus	dwRig_setFThetaCameraConfig (dwFThetaCameraConfig const *const config, uint32_t const sensorId, dwRigHandle_t const obj)
	Sets the parameters of the FTheta camera model. More...
DW_API_PUBLIC dwStatus	dwRig_setFThetaCameraConfigNew (dwFThetaCameraConfigNew const *const config, uint32_t const sensorId, dwRigHandle_t const obj)
	Sets the parameters of the FTheta camera model. More...
DW_API_PUBLIC dwStatus	dwRig_setGenericVehicle (dwGenericVehicle const *const vehicle, dwRigHandle_t const obj)
	Sets the properties of a generic vehicle (car or truck). More...
DW_API_PUBLIC dwStatus	dwRig_setOCamCameraConfig (dwOCamCameraConfig const *const config, uint32_t const sensorId, dwRigHandle_t const obj)
	Sets the parameters of the OCam camera model. More...
DW_API_PUBLIC dwStatus	dwRig_setPinholeCameraConfig (dwPinholeCameraConfig const *const config, uint32_t const sensorId, dwRigHandle_t const obj)
	Sets the parameters of the pinhole camera model. More...
DW_API_PUBLIC dwStatus	dwRig_setSensorParameter (char8_t const *const sensorParameter, uint32_t const sensorId, dwRigHandle_t const obj)
	Sets the parameter string for a sensor. More...
DW_API_PUBLIC dwStatus	dwRig_setSensorToRigTransformation (dwTransformation3f const *const transformation, uint32_t const sensorId, dwRigHandle_t const obj)
	Sets the sensor to rig transformation for a sensor. More...
DW_API_PUBLIC dwStatus	dwRig_setVehicle (dwVehicle const *const vehicle, dwRigHandle_t const obj)
	DEPRECATED: Sets the properties of a passenger car vehicle. More...