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    DriveWorks SDK Reference
    5.8.83 Release
    For Test and Development only

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

    Detailed Description

    Defines module to register/stitch multiple sets of point clouds.

    Macros

    #define DW_POINTCLOUD_STITCHER_MAX_POINT_CLOUDS   DW_BIND_SLOT_MAX_COUNT
     This defines the maximum number of point clouds anticipated to be stitched. More...
     

    Typedefs

    typedef struct dwPointCloudStitcherObject * dwPointCloudStitcherHandle_t
     

    Functions

    DW_API_PUBLIC dwStatus dwPointCloudStitcher_bindInput (dwBindSlot slot, const dwPointCloud *pointCloud, const dwTransformation3f *transform, dwPointCloudStitcherHandle_t obj)
     Binds input point cloud to the point cloud stitcher. More...
     
    DW_API_PUBLIC dwStatus dwPointCloudStitcher_bindOutput (dwPointCloud *points, dwPointCloudStitcherHandle_t obj)
     Binds output buffer to the point cloud stitcher. More...
     
    DW_API_PUBLIC dwStatus dwPointCloudStitcher_disableMotionCompensation (dwPointCloudStitcherHandle_t obj)
     Disables motion compensation for the stitched point cloud. More...
     
    DW_API_PUBLIC dwStatus dwPointCloudStitcher_enableMotionCompensation (dwTime_t timestamp, dwEgomotionConstHandle_t egomotion, dwPointCloudStitcherHandle_t obj)
     Enables motion compensation for the stitched point cloud. More...
     
    DW_API_PUBLIC dwStatus dwPointCloudStitcher_getCUDAStream (cudaStream_t *stream, dwPointCloudStitcherHandle_t obj)
     Gets CUDA stream of point cloud stitcher. More...
     
    DW_API_PUBLIC dwStatus dwPointCloudStitcher_initialize (dwPointCloudStitcherHandle_t *obj, dwContextHandle_t ctx)
     Initializes point cloud stitcher. More...
     
    DW_API_PUBLIC dwStatus dwPointCloudStitcher_process (dwPointCloudStitcherHandle_t obj)
     Transforms all the input point clouds to a common coordinate. More...
     
    DW_API_PUBLIC dwStatus dwPointCloudStitcher_release (dwPointCloudStitcherHandle_t obj)
     Releases point cloud stitcher. More...
     
    DW_API_PUBLIC dwStatus dwPointCloudStitcher_reset (dwPointCloudStitcherHandle_t obj)
     Resets point cloud stitcher. More...
     
    DW_API_PUBLIC dwStatus dwPointCloudStitcher_setCUDAStream (const cudaStream_t stream, dwPointCloudStitcherHandle_t obj)
     Sets CUDA stream of point cloud stitcher. More...
     
    DW_API_PUBLIC dwStatus dwPointCloudStitcher_setGlobalTransformation (const dwTransformation3f *tx, dwPointCloudStitcherHandle_t obj)
     Sets global transformation for the stitched point cloud. More...
     

    Macro Definition Documentation

    ◆ DW_POINTCLOUD_STITCHER_MAX_POINT_CLOUDS

    #define DW_POINTCLOUD_STITCHER_MAX_POINT_CLOUDS   DW_BIND_SLOT_MAX_COUNT

    This defines the maximum number of point clouds anticipated to be stitched.

    Definition at line 61 of file PointCloudStitcher.h.

    Typedef Documentation

    ◆ dwPointCloudStitcherHandle_t

    typedef struct dwPointCloudStitcherObject* dwPointCloudStitcherHandle_t

    Definition at line 63 of file PointCloudStitcher.h.

    Function Documentation

    ◆ dwPointCloudStitcher_bindInput()

    DW_API_PUBLIC dwStatus dwPointCloudStitcher_bindInput ( dwBindSlot  slot,
    const dwPointCloud *  pointCloud,
    const dwTransformation3f *  transform,
    dwPointCloudStitcherHandle_t  obj 
    )

    Binds input point cloud to the point cloud stitcher.

    Parameters
    [in]slotdestination slot
    [in]pointCloudPointer to the input point cloud
    [in]transformPointer to point cloud transformation
    [in]objHandle to the point cloud stitcher
    Returns
    DW_SUCCESS
    DW_INVALID_HANDLE - provided handle to point clou stitcher is null
    DW_OUT_OF_BOUNDS - slot index is out of bounds

    ◆ dwPointCloudStitcher_bindOutput()

    DW_API_PUBLIC dwStatus dwPointCloudStitcher_bindOutput ( dwPointCloud *  points,
    dwPointCloudStitcherHandle_t  obj 
    )

    Binds output buffer to the point cloud stitcher.

    Parameters
    [out]pointsPointer to output buffer which stores the stitched/motion compensated point cloud
    [in]objHandle to the point cloud stitcher
    Returns
    DW_SUCCESS
    DW_INVALID_ARGUMENT

    ◆ dwPointCloudStitcher_disableMotionCompensation()

    DW_API_PUBLIC dwStatus dwPointCloudStitcher_disableMotionCompensation ( dwPointCloudStitcherHandle_t  obj)

    Disables motion compensation for the stitched point cloud.

    Parameters
    [in]objHandle to point cloud stitcher
    Returns
    DW_SUCCESS
    DW_INVALID_ARGUMENT

    ◆ dwPointCloudStitcher_enableMotionCompensation()

    DW_API_PUBLIC dwStatus dwPointCloudStitcher_enableMotionCompensation ( dwTime_t  timestamp,
    dwEgomotionConstHandle_t  egomotion,
    dwPointCloudStitcherHandle_t  obj 
    )

    Enables motion compensation for the stitched point cloud.

    Parameters
    [in]timestampThe reference timestamp to align the point clouds with
    [in]egomotionHandle to egomotion
    [in]objHandle to point cloud stitcher
    Returns
    DW_SUCCESS
    DW_INVALID_ARGUMENT - if provided egomotion or stitcher handle is null

    ◆ dwPointCloudStitcher_getCUDAStream()

    DW_API_PUBLIC dwStatus dwPointCloudStitcher_getCUDAStream ( cudaStream_t *  stream,
    dwPointCloudStitcherHandle_t  obj 
    )

    Gets CUDA stream of point cloud stitcher.

    Parameters
    [out]streamPointer to CUDA stream handle
    [in]objHandle to point cloud stitcher
    Returns
    DW_SUCCESS
    DW_INVALID_ARGUMENT

    ◆ dwPointCloudStitcher_initialize()

    DW_API_PUBLIC dwStatus dwPointCloudStitcher_initialize ( dwPointCloudStitcherHandle_t *  obj,
    dwContextHandle_t  ctx 
    )

    Initializes point cloud stitcher.

    Parameters
    [out]objPointer to point cloud stitcher handle
    [in]ctxHandle to the context
    Returns
    DW_SUCCESS
    DW_INVALID_ARGUMENT

    ◆ dwPointCloudStitcher_process()

    DW_API_PUBLIC dwStatus dwPointCloudStitcher_process ( dwPointCloudStitcherHandle_t  obj)

    Transforms all the input point clouds to a common coordinate.

    Parameters
    [in]objHandle to the point cloud sitcher
    Returns
    DW_SUCCESS
    DW_INVALID_ARGUMENT - the memory type of input/output does not match
    DW_CALL_NOT_ALLOWED - input list is not bound
    DW_OUT_OF_BOUNDS - the number of input points exceeds the output buffer capacity

    ◆ dwPointCloudStitcher_release()

    DW_API_PUBLIC dwStatus dwPointCloudStitcher_release ( dwPointCloudStitcherHandle_t  obj)

    Releases point cloud stitcher.

    Parameters
    [in]objHandle to point cloud stitcher
    Returns
    DW_SUCCESS
    DW_INVALID_ARGUMENT

    ◆ dwPointCloudStitcher_reset()

    DW_API_PUBLIC dwStatus dwPointCloudStitcher_reset ( dwPointCloudStitcherHandle_t  obj)

    Resets point cloud stitcher.

    Parameters
    [in]objHandle to point cloud stitcher
    Returns
    DW_SUCCESS
    DW_INVALID_ARGUMENT

    ◆ dwPointCloudStitcher_setCUDAStream()

    DW_API_PUBLIC dwStatus dwPointCloudStitcher_setCUDAStream ( const cudaStream_t  stream,
    dwPointCloudStitcherHandle_t  obj 
    )

    Sets CUDA stream of point cloud stitcher.

    Parameters
    [in]streamHandle to CUDA stream
    [in]objHandle to point cloud stitcher
    Returns
    DW_SUCCESS
    DW_INVALID_ARGUMENT

    ◆ dwPointCloudStitcher_setGlobalTransformation()

    DW_API_PUBLIC dwStatus dwPointCloudStitcher_setGlobalTransformation ( const dwTransformation3f *  tx,
    dwPointCloudStitcherHandle_t  obj 
    )

    Sets global transformation for the stitched point cloud.

    Parameters
    [in]txPointer to the transformation that transforms the stitched point
    cloud to one common coordinate system. Parameter is optional, can
    be nullptr. In this case identity transformation will be used.
    [in]objHandle to point cloud stitcher
    Returns
    DW_SUCCESS
    DW_INVALID_ARGUMENT
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