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  • Compute Graph Framework SDK Reference  5.14
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    dwPointCloudAccumulatorNode.hpp
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    1
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    30
    31#ifndef DWFRAMEWORK_DWNODES_POINTCLOUDPROCESSING_DWACCUMULATORNODE_DWPOINTCLOUDACCUMULATORNODE_HPP_
    32#define DWFRAMEWORK_DWNODES_POINTCLOUDPROCESSING_DWACCUMULATORNODE_DWPOINTCLOUDACCUMULATORNODE_HPP_
    33
    34#include <dwshared/dwfoundation/dw/core/logger/Logger.hpp>
    35#include <dw/pointcloudprocessing/assembler/PointCloudAssembler.h>
    36#include <dw/pointcloudprocessing/motioncompensator/MotionCompensator.h>
    37#include <dwcgf/node/Node.hpp>
    42#include <dwframework/dwnodes/common/SensorCommonTypes.hpp>
    43#include <dwframework/dwnodes/common/channelpackets/EgomotionState.hpp>
    44#include <dwframework/dwnodes/common/channelpackets/DwframeworkTypes.hpp>
    45#include <dwframework/dwnodes/common/channelpackets/PointCloud.hpp>
    46#include <dwframework/dwnodes/common/channelpackets/LidarPointCloud.hpp>
    47#include <dwframework/dwnodes/common/channelpackets/SensorCommonTypes.hpp>
    48
    49namespace dw
    50{
    51namespace framework
    52{
    53
    55{
    56 dwPointCloudAssemblerParams assmParams;
    57 dwMotionCompensatorParams compParams;
    58 dwLidarProperties lidarProperties;
    59 dwEgomotionParameters egomotionParams;
    62 cudaStream_t cudaStream;
    63};
    64
    69{
    70public:
    71 // TODO(csketch): FP -- This is used when the logger is called and not just at assignment.
    72 // coverity[autosar_cpp14_a0_1_1_violation] FP: nvbugs/2980283
    73 // coverity[autosar_cpp14_m0_1_4_violation] FP: nvbugs/2980283
    74 static constexpr char8_t LOG_TAG[]{"dwPointCloudAccumulatorNode"};
    75
    76 // coverity[autosar_cpp14_a7_1_5_violation] RFD Accepted: TID-1984
    77 static constexpr auto describeInputPorts()
    78 {
    79 // TODO(csketch): RFD -- user defined literal being interpreted as c style cast.
    80 // coverity[autosar_cpp14_a5_2_2_violation] RFD Pending: TID-1983
    82 DW_DESCRIBE_PORT(dwLidarPacketsArray, "LIDAR_PACKETS_ARRAY"_sv),
    83 DW_DESCRIBE_PORT(dwEgomotionStateHandle_t, "EGOMOTION_STATE"_sv),
    84 DW_DESCRIBE_PORT(dwSensorNodeProperties, "LIDAR_EXTRINSICS"_sv));
    85 };
    86 // coverity[autosar_cpp14_a7_1_5_violation] RFD Accepted: TID-1984
    87 static constexpr auto describeOutputPorts()
    88 {
    89 // TODO(csketch): RFD -- user defined literal being interpreted as c style cast.
    90 // coverity[autosar_cpp14_a5_2_2_violation] RFD Pending: TID-1983
    92 DW_DESCRIBE_PORT(dwLidarPointCloud, "LIDAR_POINT_CLOUD_RAW"_sv),
    93 DW_DESCRIBE_PORT(dwLidarPointCloud, "LIDAR_POINT_CLOUD_COMPENSATED"_sv),
    94 DW_DESCRIBE_PORT(dwTime_t, "TIMESTAMP"_sv),
    95 DW_DESCRIBE_PORT(bool, "POINT_CLOUD_AVAILABLE"_sv));
    96 };
    97
    98 // coverity[autosar_cpp14_a7_1_5_violation] RFD Accepted: TID-1984
    99 static constexpr auto describePasses()
    100 {
    102 describePass(StringView{"SETUP"}, DW_PROCESSOR_TYPE_CPU),
    103 describePass(StringView{"PROCESS_ASSM_GPU_ASYNC"}, DW_PROCESSOR_TYPE_GPU),
    104 describePass(StringView{"PROCESS_ASSM_CPU_SYNC"}, DW_PROCESSOR_TYPE_CPU),
    105 describePass(StringView{"PROCESS_COMP_GPU_ASYNC"}, DW_PROCESSOR_TYPE_GPU),
    106 describePass(StringView{"PROCESS_COMP_CPU_SYNC"}, DW_PROCESSOR_TYPE_CPU),
    107 describePass(StringView{"TEARDOWN"}, DW_PROCESSOR_TYPE_CPU));
    108 };
    109
    110 // coverity[autosar_cpp14_a7_1_5_violation] RFD Accepted: TID-1984
    111 static constexpr auto describeParameters()
    112 {
    113 // TODO(csketch): RFD -- user defined literal being interpreted as c style cast.
    114 // coverity[autosar_cpp14_a5_2_2_violation] RFD Pending: TID-1983
    116 dwContextHandle_t>(
    119 bool,
    120 "enableCuda"_sv,
    123 dwMotionCompensatorInterpolationStrategy,
    124 "interpolationStrategy"_sv,
    125 &dwAccumulatorNodeParams::compParams, &dwMotionCompensatorParams::interpolationStrategy),
    127 bool,
    128 "outputInRigCoordinates"_sv,
    129 &dwAccumulatorNodeParams::compParams, &dwMotionCompensatorParams::outputInRigCoordinates),
    131 dwTransformation3f,
    133 "sensorId"_sv,
    134 &dwAccumulatorNodeParams::compParams, &dwMotionCompensatorParams::pointCloudToRig),
    136 dwLidarProperties,
    137 "sensorId"_sv,
    140 bool,
    144 cudaStream_t,
    145 "streamIndex"_sv,
    149 dwContextHandle_t)));
    150 };
    151
    152 static std::unique_ptr<dwPointCloudAccumulatorNode> create(ParameterProvider& provider);
    153
    155 const dwContextHandle_t ctx);
    156};
    157
    158} // namespace framework
    159} // namespace dw
    160
    161#endif // DWFRAMEWORK_DWNODES_POINTCLOUDPROCESSING_DWACCUMULATORNODE_DWPOINTCLOUDACCUMULATORNODE_HPP_
    #define DW_DESCRIBE_INDEX_PARAMETER_WITH_SEMANTIC(TYPE_NAME, SEMANTIC_TYPE_NAME, args...)
    #define DW_DESCRIBE_INDEX_PARAMETER(TYPE_NAME, args...)
    #define DW_DESCRIBE_UNNAMED_PARAMETER_WITH_SEMANTIC(TYPE_NAME, SEMANTIC_TYPE_NAME, args...)
    #define DW_DESCRIBE_UNNAMED_PARAMETER(TYPE_NAME, args...)
    #define DW_DESCRIBE_PARAMETER(TYPE_NAME, args...)
    #define DW_DESCRIBE_PORT(TYPE_NAME, args...)
    The interface to access parameter values identified by name and/or (semantic) type.
    static std::unique_ptr< dwPointCloudAccumulatorNode > create(ParameterProvider &provider)
    dwPointCloudAccumulatorNode(const dwAccumulatorNodeParams &paramsPointCloud, const dwContextHandle_t ctx)
    constexpr std::tuple describeConstructorArguments()
    constexpr auto describeConstructorArgument(const Args &&... args) -> dw::core::Tuple< Args... >
    constexpr auto describePassCollection(const Args &&... args) -> std::tuple< Args... >
    constexpr auto describePortCollection(Args &&... args) -> dw::core::Tuple< Args... >
    constexpr PassDescriptorT< 0 > describePass(dw::core::StringView const &&name, dwProcessorType processorType)
    Definition: Buffer.hpp:40
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