MotionCompensator.h

Go to the documentation of this file.

 
// This code contains NVIDIA Confidential Information and is disclosed
// under the Mutual Non-Disclosure Agreement.
//
// Notice
// ALL NVIDIA DESIGN SPECIFICATIONS AND CODE ("MATERIALS") ARE PROVIDED "AS IS" NVIDIA MAKES
// NO REPRESENTATIONS, WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ANY IMPLIED WARRANTIES OF NONINFRINGEMENT,
// MERCHANTABILITY, OR FITNESS FOR A PARTICULAR PURPOSE.
//
// NVIDIA Corporation assumes no responsibility for the consequences of use of such
// information or for any infringement of patents or other rights of third parties that may
// result from its use. No license is granted by implication or otherwise under any patent
// or patent rights of NVIDIA Corporation. No third party distribution is allowed unless
// expressly authorized by NVIDIA.  Details are subject to change without notice.
// This code supersedes and replaces all information previously supplied.
// NVIDIA Corporation products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA Corporation.
//
// Copyright (c) 2022 NVIDIA Corporation. All rights reserved.
//
// NVIDIA Corporation and its licensors retain all intellectual property and proprietary
// rights in and to this software and related documentation and any modifications thereto.
// Any use, reproduction, disclosure or distribution of this software and related
// documentation without an express license agreement from NVIDIA Corporation is
// strictly prohibited.
//
 
#ifndef DW_POINTCLOUDPROCESSING_MOTIONCOMPENSATOR_H_
#define DW_POINTCLOUDPROCESSING_MOTIONCOMPENSATOR_H_
 
#include <dw/pointcloudprocessing/pointcloud/LidarPointCloud.h>
#include <dw/egomotion/base/EgomotionState.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct dwMotionCompensatorObject* dwMotionCompensatorHandle_t;
typedef struct dwMotionCompensatorObject const* dwMotionCompensatorConstHandle_t;
 
typedef enum {
    DW_PC_MOTION_COMPENSATOR_INTERPOLATION_LINEAR = 0,
 
} dwMotionCompensatorInterpolationStrategy;
 
typedef struct
{
    bool enableCuda; 
 
    uint32_t maxPointCloudSize; 
 
    dwMotionCompensatorInterpolationStrategy interpolationStrategy; 
 
    uint32_t motionModelResolution; 
 
    bool outputInRigCoordinates; 
 
    dwTransformation3f pointCloudToRig; 
 
} dwMotionCompensatorParams;
 
DW_API_PUBLIC
dwStatus dwMotionCompensator_getDefaultParams(dwMotionCompensatorParams* params, dwLidarProperties const* lidarProps);
 
DW_API_PUBLIC
dwStatus dwMotionCompensator_initialize(dwMotionCompensatorHandle_t* obj,
                                        dwMotionCompensatorParams const* params,
                                        dwContextHandle_t ctx);
 
DW_API_PUBLIC
dwStatus dwMotionCompensator_reset(dwMotionCompensatorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwMotionCompensator_release(dwMotionCompensatorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwMotionCompensator_setCUDAStream(const cudaStream_t stream,
                                           dwMotionCompensatorHandle_t obj);
DW_API_PUBLIC
dwStatus dwMotionCompensator_getCUDAStream(cudaStream_t* stream,
                                           dwMotionCompensatorConstHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwMotionCompensator_bindEgomotionState(dwConstEgomotionStateHandle_t motionState,
                                                dwMotionCompensatorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwMotionCompensator_setTransform(dwTransformation3f const* transform,
                                          dwMotionCompensatorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwMotionCompensator_setReferenceTimestamp(dwTime_t const timestamp,
                                                   dwMotionCompensatorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwMotionCompensator_bindInput(dwPointCloud const* pointCloud,
                                       uint32_t const timestampChannelIndex,
                                       dwMotionCompensatorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwMotionCompensator_bindInputLidarPointCloud(dwLidarPointCloud const* pointCloud,
                                                      dwMotionCompensatorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwMotionCompensator_bindOutput(dwPointCloud* pointCloud,
                                        dwMotionCompensatorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwMotionCompensator_bindOutputLidarPointCloud(dwLidarPointCloud* pointCloud,
                                                       dwMotionCompensatorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwMotionCompensator_process(dwMotionCompensatorHandle_t obj);
 
#ifdef __cplusplus
}
#endif
#endif // DW_POINTCLOUDPROCESSING_MOTIONCOMPENSATOR_H_