Lidar.h File Reference

Detailed Description

NVIDIA DriveWorks API: Lidar

Description: This file defines the Lidar sensor.

Definition in file Lidar.h.

Go to the source code of this file.

Data Structures
struct	dwLidarDecodedPacket
	Defines the structure for a decoded lidar packet. More...
struct	dwLidarDecodedReturn
	Defines the return structure for an extended decoded lidar packet. More...
struct	dwLidarPointRTHI
	Holds a Lidar point cloud RTHI and the associated intensity. More...
struct	dwLidarPointXYZI
	Holds a Lidar point cloud XYZ and the associated intensity. More...
struct	dwLidarProperties
	Defines the properties of the lidar. More...

Macros
#define	DW_SENSORS_LIDAR_MAX_RETURNS   10
	Maximum number of distinct lidar returns a point cloud can contain. More...
#define	DW_SENSORS_LIDAR_MAX_ROWS   256

Enumerations
enum	dwLidarAuxDataType {   DW_LIDAR_AUX_DATA_TYPE_SNR = 0 ,   DW_LIDAR_AUX_DATA_TYPE_SIGNALWIDTH = 1 ,   DW_LIDAR_AUX_DATA_TYPE_SIGNALHEIGHT = 2 ,   DW_LIDAR_AUX_DATA_TYPE_TIME = 3 ,   DW_LIDAR_AUX_DATA_TYPE_V_MPS = 4 ,   DW_LIDAR_AUX_DATA_TYPE_EXISTENCEPROB = 5 ,   DW_LIDAR_AUX_DATA_TYPE_CROSSTALKPROB = 6 ,   DW_LIDAR_AUX_DATA_TYPE_NOISELEVEL = 7 ,   DW_LIDAR_AUX_DATA_TYPE_ZONEID = 8 ,   DW_LIDAR_AUX_DATA_TYPE_DETECTORID = 9 ,   DW_LIDAR_AUX_DATA_TYPE_LINEID = 10 ,   DW_LIDAR_AUX_DATA_TYPE_DATAQUALITY = 11 ,   DW_LIDAR_AUX_DATA_TYPE_SCANCHECKPOINT = 12 ,   DW_LIDAR_AUX_DATA_TYPE_BLOCKAGEFLAG = 13 ,   DW_LIDAR_AUX_DATA_TYPE_SENSORID = 14 ,   DW_LIDAR_AUX_DATA_TYPE_VALIDITY = 15 ,   DW_LIDAR_AUX_DATA_TYPE_INVALIDITYFLAG = 16 ,   DW_LIDAR_AUX_DATA_TYPE_COUNT = 17 }
	An enum for every data element we could possibly return. More...
enum	dwLidarInvalidityFlag {   DW_LIDAR_INVALIDITY_NONE = 0 ,   DW_LIDAR_INVALIDITY_DW = 1 << 0 ,   DW_LIDAR_INVALIDITY_VEND = 1 << 1 ,   DW_LIDAR_INVALIDITY_INVALID = DW_LIDAR_INVALIDITY_DW | DW_LIDAR_INVALIDITY_VEND }
	An enum for specifying invalidity flags. More...
enum	dwLidarReturnType {   DW_LIDAR_RETURN_TYPE_ANY = 0 ,   DW_LIDAR_RETURN_TYPE_FIRST = 1 << 0 ,   DW_LIDAR_RETURN_TYPE_LAST = 1 << 1 ,   DW_LIDAR_RETURN_TYPE_STRONGEST = 1 << 2 ,   DW_LIDAR_RETURN_TYPE_ABS_STRONGEST = 1 << 3 ,   DW_LIDAR_RETURN_TYPE_1 = 1 << 4 ,   DW_LIDAR_RETURN_TYPE_2 = 1 << 5 ,   DW_LIDAR_RETURN_TYPE_3 = 1 << 6 ,   DW_LIDAR_RETURN_TYPE_4 = 1 << 7 ,   DW_LIDAR_RETURN_TYPE_5 = 1 << 8 ,   DW_LIDAR_RETURN_TYPE_6 = 1 << 9 }
	Enum to indicate a single return type. More...

Functions
DW_API_PUBLIC dwStatus	dwSensorLidar_disableDecoding (dwSensorHandle_t const sensor)
	Disable the decoding of the Lidar packets, which frees additional CPU load. More...
DW_API_PUBLIC dwStatus	dwSensorLidar_enableDecoding (dwSensorHandle_t const sensor)
	Enables the decoding of the Lidar packets, which incurs an additional CPU load. More...
DW_API_PUBLIC dwStatus	dwSensorLidar_getProperties (dwLidarProperties *const lidarProperties, dwSensorHandle_t const sensor)
	Gets information about the Lidar sensor. More...
DW_API_PUBLIC dwStatus	dwSensorLidar_isDecodingEnabled (bool *const enable, dwSensorHandle_t const sensor)
	Retrieves the state of packet decoding. More...
DW_API_PUBLIC dwStatus	dwSensorLidar_processRawData (dwLidarDecodedPacket const **const data, uint8_t const *const rawData, size_t const size, dwSensorHandle_t const sensor)
	Decodes RAW data previously read and returns a pointer to it. More...
DW_API_PUBLIC dwStatus	dwSensorLidar_readPacket (dwLidarDecodedPacket const **const data, dwTime_t const timeoutUs, dwSensorHandle_t const sensor)
	Reads one scan packet. More...
DW_API_PUBLIC dwStatus	dwSensorLidar_returnPacket (dwLidarDecodedPacket const *const data, dwSensorHandle_t const sensor)
	Returns the data read to the internal pool. More...
DW_API_PUBLIC dwStatus	dwSensorLidar_sendMessage (uint32_t const cmd, uint8_t const *const data, size_t const size, dwSensorHandle_t const sensor)