DopplerMotionEstimator.h

Go to the documentation of this file.

 
//
// 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 & AFFILIATES 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 & AFFILIATES. 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 & AFFILIATES products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA CORPORATION & AFFILIATES.
//
// SPDX-FileCopyrightText: Copyright (c) 2018-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: LicenseRef-NvidiaProprietary
//
// NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
// property and proprietary rights in and to this material, related
// documentation and any modifications thereto. Any use, reproduction,
// disclosure or distribution of this material and related documentation
// without an express license agreement from NVIDIA CORPORATION or
// its affiliates is strictly prohibited.
//
 
#ifndef DW_EGOMOTION_RADAR_DOPPLERMOTIONESTIMATOR_H__
#define DW_EGOMOTION_RADAR_DOPPLERMOTIONESTIMATOR_H__
 
#include <dw/core/context/Context.h>
#include <dw/sensors/radar/Radar.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct dwRadarDopplerMotion
{
    float32_t speed;
 
    float32_t heading;
 
    dwMatrix2f covariance;
 
    float32_t confidenceSpeed;
 
    float32_t confidenceHeading;
 
    dwTime_t hostTimestamp_us;
 
    dwRadarRange radarRange;
 
} dwRadarDopplerMotion;
 
typedef struct dwRadarDopplerMotionObject* dwRadarDopplerMotionHandle_t;
 
DW_API_PUBLIC
dwStatus dwRadarDopplerMotion_initialize(dwRadarDopplerMotionHandle_t* obj,
                                         cudaStream_t stream,
                                         dwContextHandle_t ctx);
 
DW_API_PUBLIC
dwStatus dwRadarDopplerMotion_setCUDAStream(cudaStream_t stream,
                                            dwRadarDopplerMotionHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRadarDopplerMotion_getCUDAStream(cudaStream_t* stream,
                                            dwRadarDopplerMotionHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRadarDopplerMotion_processAsync(const dwRadarScan* radarScan,
                                           dwRadarDopplerMotionHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRadarDopplerMotion_getMotion(dwRadarDopplerMotion* motion,
                                        dwRadarDopplerMotionHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRadarDopplerMotion_reset(dwRadarDopplerMotionHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRadarDopplerMotion_release(dwRadarDopplerMotionHandle_t obj);
 
#ifdef __cplusplus
}
#endif
#endif // DW_EGOMOTION_RADAR_DOPPLERMOTIONESTIMATOR_H__