Engine.h File Reference

Detailed Description

NVIDIA DriveWorks API: Calibration

Description: This file defines the calibration layer.

Definition in file Engine.h.

Go to the source code of this file.

Functions
DW_API_PUBLIC dwStatus	dwCalibrationEngine_addFeatureDetections (uint32_t featureCapacity, uint32_t historyCapacity, const uint32_t *d_featureCount, const uint32_t *d_ages, const dwVector2f *d_locationHistory, const dwFeature2DStatus *d_featureStatuses, uint32_t currentTimeIdx, dwTime_t timestamp, uint32_t sensorIndex, dwCalibrationEngineHandle_t engine)
	Adds detected visual features to the calibration engine. More...
DW_API_PUBLIC dwStatus	dwCalibrationEngine_addIMUFrame (const dwIMUFrame *imuFrame, uint32_t sensorIndex, dwCalibrationEngineHandle_t engine)
	Adds an IMU frame from an IMU sensor to the calibration engine. More...
DW_API_PUBLIC dwStatus	dwCalibrationEngine_addLidarPointCloud (const dwVector4f *lidarPoints, uint32_t pointCount, dwTime_t timestamp, uint32_t sensorIndex, dwCalibrationEngineHandle_t engine)
	Adds a lidar sweep to the calibration engine. More...
DW_API_PUBLIC dwStatus	dwCalibrationEngine_addLidarPose (const dwTransformation3f *deltaPoseLidarTimeAToTimeB, const dwTransformation3f *deltaPoseRigTimeAToTimeB, dwTime_t timestampA, dwTime_t timestampB, uint32_t sensorIndex, dwCalibrationEngineHandle_t engine)
	Adds lidar delta-poses and ego-motion delta poses to the calibration engine. More...
DW_API_PUBLIC dwStatus	dwCalibrationEngine_addMatches (const dwFeatureHistoryArray *matches, dwTime_t timestamp, uint32_t leftSensorIndex, uint32_t rightSensorIndex, dwCalibrationEngineHandle_t engine)
	Adds detected visual feature matches to the calibration engine. More...
DW_API_PUBLIC dwStatus	dwCalibrationEngine_addRadarDopplerMotion (dwRadarDopplerMotion const *radarMotion, uint32_t sensorIndex, dwCalibrationEngineHandle_t engine)
	Adds Radar Doppler motion to the calibration engine. More...
DW_API_PUBLIC dwStatus	dwCalibrationEngine_addVehicleIOActuationFeedback (dwVehicleIOActuationFeedback const *vioActuationFeedback, uint32_t sensorIndex, dwCalibrationEngineHandle_t engine)
	Adds dwVehicleIOActuationFeedback to calibration engine. More...
DW_API_PUBLIC dwStatus	dwCalibrationEngine_addVehicleIONonSafetyState (dwVehicleIONonSafetyState const *vioNonSafetyState, uint32_t sensorIndex, dwCalibrationEngineHandle_t engine)
	Adds dwVehicleIONonSafetyState to calibration engine. More...
DW_API_PUBLIC dwStatus	dwCalibrationEngine_addVehicleIOState (const dwVehicleIOState *vioState, uint32_t sensorIndex, dwCalibrationEngineHandle_t engine)
	Adds vehicle IO state to calibration engine. More...
DW_API_PUBLIC dwStatus	dwCalibrationEngine_getCalibrationStatus (dwCalibrationStatus *status, dwCalibrationRoutineHandle_t routine, dwCalibrationEngineHandle_t engine)
	Returns the current status of a calibration routine. More...
DW_API_PUBLIC dwStatus	dwCalibrationEngine_getOdometrySpeedFactor (float32_t *odometrySpeedFactor, dwCalibrationRoutineHandle_t routine, dwCalibrationEngineHandle_t engine)
	Returns odometry speed factor, mapping speed as reported by odometry to actual speed. More...
DW_API_PUBLIC dwStatus	dwCalibrationEngine_getSensorToRigTransformation (dwTransformation3f *sensorToRig, dwCalibrationRoutineHandle_t routine, dwCalibrationEngineHandle_t engine)
	Returns the current sensor to rig transformation of a calibration routine estimating this transformation. More...
DW_API_PUBLIC dwStatus	dwCalibrationEngine_getSensorToSensorTransformation (dwTransformation3f *sensorToSensor, uint32_t indexA, uint32_t indexB, dwCalibrationRoutineHandle_t routine, dwCalibrationEngineHandle_t engine)
	Returns the current sensor to sensor transformation of a calibration routine estimating this transformation. More...
DW_API_PUBLIC dwStatus	dwCalibrationEngine_getSupportedSignals (dwCalibrationSignal *signals, dwCalibrationRoutineHandle_t routine, dwCalibrationEngineHandle_t engine)
	Query a calibration routine for the calibration type and enabled calibration signal components. More...
DW_API_PUBLIC dwStatus	dwCalibrationEngine_getVehicleSteeringProperties (dwVehicleSteeringProperties *steering, dwCalibrationRoutineHandle_t routine, dwCalibrationEngineHandle_t engine)
	Get vehicle parameter calibration result. More...
DW_API_PUBLIC dwStatus	dwCalibrationEngine_getVehicleWheelRadius (float32_t *radius, dwVehicleWheels wheel, dwCalibrationRoutineHandle_t routine, dwCalibrationEngineHandle_t engine)
	Get currently estimated wheel radius of a vehicle. More...
DW_API_PUBLIC dwStatus	dwCalibrationEngine_initialize (dwCalibrationEngineHandle_t *engine, dwRigHandle_t rig, dwContextHandle_t context)
	Creates and initializes a Calibration Engine. More...
DW_API_PUBLIC dwStatus	dwCalibrationEngine_initializeCamera (dwCalibrationRoutineHandle_t *routine, uint32_t sensorIndex, const dwCalibrationCameraParams *params, dwEgomotionConstHandle_t egomotion, cudaStream_t stream, dwCalibrationEngineHandle_t engine)
	Initializes a camera calibration routine designated by the sensor provided to the method. More...
DW_API_PUBLIC dwStatus	dwCalibrationEngine_initializeIMU (dwCalibrationRoutineHandle_t *routine, const uint32_t imuIndex, const uint32_t canIndex, const dwCalibrationIMUParams *params, dwCalibrationEngineHandle_t engine)
	Initializes an IMU calibration routine designated by the sensor provided to the method. More...
DW_API_PUBLIC dwStatus	dwCalibrationEngine_initializeLidar (dwCalibrationRoutineHandle_t *routine, uint32_t lidarIndex, uint32_t canIndex, const dwCalibrationLidarParams *params, cudaStream_t stream, dwCalibrationEngineHandle_t engine)
	Initializes a lidar calibration routine designated by the sensor provided to the method. More...
DW_API_PUBLIC dwStatus	dwCalibrationEngine_initializeRadar (dwCalibrationRoutineHandle_t *routine, uint32_t radarIndex, uint32_t canIndex, const dwCalibrationRadarParams *params, dwCalibrationEngineHandle_t engine)
	Initializes a radar calibration routine designated by the sensor provided to the method. More...
DW_API_PUBLIC dwStatus	dwCalibrationEngine_initializeStereo (dwCalibrationRoutineHandle_t *routine, uint32_t vehicleSensorIndex, uint32_t leftSensorIndex, uint32_t rightSensorIndex, const dwCalibrationStereoParams *params, cudaStream_t stream, dwCalibrationEngineHandle_t engine)
	This method initializes a stereo camera pose calibration routine relative to the sensor index of the left camera. More...
DW_API_PUBLIC dwStatus	dwCalibrationEngine_initializeVehicle (dwCalibrationRoutineHandle_t *routine, uint32_t sensorIndex, const dwCalibrationVehicleParams *params, dwEgomotionConstHandle_t egoMotion, const dwVehicle *vehicle, dwCalibrationEngineHandle_t engine)
	Initialize vehicle parameter calibration. More...
DW_API_PUBLIC dwStatus	dwCalibrationEngine_release (dwCalibrationEngineHandle_t engine)
	Releases the Calibration Engine module. More...
DW_API_PUBLIC dwStatus	dwCalibrationEngine_reset (dwCalibrationEngineHandle_t engine)
	Resets the Calibration Engine module. More...
DW_API_PUBLIC dwStatus	dwCalibrationEngine_resetCalibration (dwCalibrationRoutineHandle_t routine, dwCalibrationEngineHandle_t engine)
	Resets the calibration of a specific calibration routine associated with a calibration engine. More...
DW_API_PUBLIC dwStatus	dwCalibrationEngine_startCalibration (dwCalibrationRoutineHandle_t routine, dwCalibrationEngineHandle_t engine)
	Starts a calibration routine associated with a calibration engine. More...
DW_API_PUBLIC dwStatus	dwCalibrationEngine_stopCalibration (dwCalibrationRoutineHandle_t routine, dwCalibrationEngineHandle_t engine)
	Stops a calibration routine associated with a calibration engine. More...