Calibration Interface

Detailed Description

Defines the Calibration module for performing self-calibration of sensors and internal parameters.

Modules
	Calibration Types
	Fundamental types associated with Calibration.
	Camera Calibration
	Parameters for initializing a camera calibration.

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...

Function Documentation

dwCalibrationEngine_addFeatureDetections()

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.

The calibration engine will send these features to all routines that use features from this sensor.

Parameters

[in]	featureCapacity	Max number of features that can be stored in the list
[in]	historyCapacity	Max age of a feature
[in]	d_featureCount	Number of valid features (GPU memory)
[in]	d_ages	Age of features (GPU memory)
[in]	d_locationHistory	Locations of features (GPU memory), see features.h for details on memory layout
[in]	d_featureStatuses	Statuses of features (GPU memory), see FeatureList.h for details on possible values
[in]	currentTimeIdx	The index for the current time in the locationHistory arrays
[in]	timestamp	The time stamp when the detections were created
[in]	sensorIndex	The index of the sensor that created the detections
[in]	engine	Specifies the calibration engine module we are checking against

Returns

DW_INVALID_ARGUMENT - if the d_featureCount, d_ages, or d_locationHistory pointer is invalid

DW_INVALID_HANDLE - if provided engine handle is invalid, i.e., null or of wrong type

DW_INTERNAL_ERROR - if an internal unrecoverable error was detected

DW_SUCCESS - no error

dwCalibrationEngine_addIMUFrame()

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.

The calibration engine will send these measurements to all routines that use features from this sensor.

The IMU frame shall contain both linear acceleration and angular velocity measurements for X, Y and Z axes; the frame will be discarded otherwise.

Parameters

[in]	imuFrame	The IMU data that was taken from the sensor
[in]	sensorIndex	The index of the sensor that created the IMU data
[in]	engine	Specifies the calibration engine module we are checking against

Note

only calibrations that require the IMU from this sensor as part of their calibration routine will process the imu readings

Returns

DW_INVALID_ARGUMENT - if the imuFrame pointer is invalid

DW_INVALID_HANDLE - if provided engine handle is invalid, i.e., null or of wrong type

DW_INTERNAL_ERROR - if an internal unrecoverable error was detected

DW_SUCCESS - no error

dwCalibrationEngine_addLidarPointCloud()

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.

The calibration engine will send these measurements to all routines that use features from this sensor.

Parameters

[in]	lidarPoints	The lidar data that were acquired from the sensor
[in]	pointCount	The number of lidar points in the lidar sweep
[in]	timestamp	The time stamp when the lidar sweep was created
[in]	sensorIndex	The index of the sensor that created the lidarPoints
[in]	engine	Specifies the calibration engine module we are checking against.

Note

A valid calibration engine handle has to be provided.

Returns

DW_INVALID_ARGUMENT - if the lidarPoints pointer is invalid

DW_INVALID_HANDLE - if provided engine handle is invalid, i.e., null or of wrong type

DW_INTERNAL_ERROR - if an internal unrecoverable error was detected

DW_SUCCESS - no error

dwCalibrationEngine_addLidarPose()

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.

The calibration engine will send these measurements to all routines that use features from this sensor.

Parameters

[in]	deltaPoseLidarTimeAToTimeB	The relative pose in lidar frame from time A to time B
[in]	deltaPoseRigTimeAToTimeB	The relative pose in Rig frame from time A to time B (optional) If set to NULL, deltaPoseLidarTimeAToTimeB is used to approximate deltaPoseRigTimeAToTimeB for the algorithm.
[in]	timestampA	The time stamp of time A
[in]	timestampB	The time stamp of time B
[in]	sensorIndex	The index of the sensor that created the lidarPoints
[in]	engine	Specifies the calibration engine module we are checking against.

Note

A valid calibration engine handle has to be provided.

Returns

DW_INVALID_ARGUMENT - if the lidarPoints pointer is invalid

DW_INVALID_HANDLE - if provided engine handle is invalid, i.e., null or of wrong type

DW_INTERNAL_ERROR - if an internal unrecoverable error was detected

DW_SUCCESS - no error

dwCalibrationEngine_addMatches()

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.

The calibration engine will send these feature matches to all routines that use feature matches from this sensor.

Parameters

[in]	matches	History of feature matches between two cameras
[in]	timestamp	The time stamp when the detections were created
[in]	leftSensorIndex	The index of the left sensor that created the matches
[in]	rightSensorIndex	The index of the right sensor that created the matches
[in]	engine	Specifies the calibration engine module

Returns

DW_INVALID_ARGUMENT - if matches are invalid

DW_INVALID_HANDLE - if provided engine handle is invalid

DW_INTERNAL_ERROR - if an internal unrecoverable error was detected

DW_SUCCESS - no error

dwCalibrationEngine_addRadarDopplerMotion()

DW_API_PUBLIC dwStatus dwCalibrationEngine_addRadarDopplerMotion	(	dwRadarDopplerMotion const *	radarMotion,
		uint32_t	sensorIndex,
		dwCalibrationEngineHandle_t	engine
	)

Adds Radar Doppler motion to the calibration engine.

Parameters

[in]	radarMotion	The radar motion that estimated by DopplerMotionEstimator
[in]	sensorIndex	The index of the sensor that created the radarPoints
[in]	engine	Specifies the calibration engine module we are checking against

Returns

DW_INVALID_ARGUMENT - if the radarPoints pointer is invalid

DW_INVALID_HANDLE - if provided engine handle is invalid, i.e., null or of wrong type

DW_INTERNAL_ERROR - if an internal unrecoverable error was detected

DW_SUCCESS - no error

dwCalibrationEngine_addVehicleIOActuationFeedback()

DW_API_PUBLIC dwStatus dwCalibrationEngine_addVehicleIOActuationFeedback	(	dwVehicleIOActuationFeedback const *	vioActuationFeedback,
		uint32_t	sensorIndex,
		dwCalibrationEngineHandle_t	engine
	)

Adds dwVehicleIOActuationFeedback to calibration engine.

Note

The necessary signals might be in dwVehicleIONonSafetyState or dwVehicleIOActuationFeedback, so both structs must be passed to the calibration engine.

Parameters

[in]	vioActuationFeedback	dwVehicleIOActuationFeedback struct from VehicleIO.
[in]	sensorIndex	The index of sensor corresponding to steering system.
[in]	engine	Specifies the calibration engine object to be updated.

Returns

DW_INVALID_ARGUMENT - if the vioState pointer is invalid

DW_INVALID_HANDLE - if provided engine handle is invalid

DW_INTERNAL_ERROR - if an internal unrecoverable error was detected

DW_SUCCESS - no error

dwCalibrationEngine_addVehicleIONonSafetyState()

DW_API_PUBLIC dwStatus dwCalibrationEngine_addVehicleIONonSafetyState	(	dwVehicleIONonSafetyState const *	vioNonSafetyState,
		uint32_t	sensorIndex,
		dwCalibrationEngineHandle_t	engine
	)

Adds dwVehicleIONonSafetyState to calibration engine.

Note

The necessary signals might be in dwVehicleIONonSafetyState or dwVehicleIOActuationFeedback, so both structs must be passed to the calibration engine.

Parameters

[in]	vioNonSafetyState	dwVehicleIONonSafetyState struct from VehicleIO.
[in]	sensorIndex	The index of sensor corresponding to steering system.
[in]	engine	Specifies the calibration engine object to be updated.

Returns

DW_INVALID_ARGUMENT - if the vioState pointer is invalid

DW_INVALID_HANDLE - if provided engine handle is invalid

DW_INTERNAL_ERROR - if an internal unrecoverable error was detected

DW_SUCCESS - no error

dwCalibrationEngine_addVehicleIOState()

DW_API_PUBLIC dwStatus dwCalibrationEngine_addVehicleIOState	(	const dwVehicleIOState *	vioState,
		uint32_t	sensorIndex,
		dwCalibrationEngineHandle_t	engine
	)

Adds vehicle IO state to calibration engine.

Deprecated:

Use dwCalibrationEngine_addVehicleIONonSafetyState and dwCalibrationEngine_addVehicleIOActuationFeedback instead.

Parameters

[in]	vioState	VehicleIO state
[in]	sensorIndex	The index of sensor corresponding to steering system
[in]	engine	Specifies the calibration engine module we are checking against.

Note

A valid calibration engine handle has to be provided.

Returns

DW_INVALID_ARGUMENT - if the vioState pointer is invalid

DW_INVALID_HANDLE - if provided engine handle is invalid

DW_INTERNAL_ERROR - if an internal unrecoverable error was detected

DW_SUCCESS - no error

dwCalibrationEngine_getCalibrationStatus()

DW_API_PUBLIC dwStatus dwCalibrationEngine_getCalibrationStatus	(	dwCalibrationStatus *	status,
		dwCalibrationRoutineHandle_t	routine,
		dwCalibrationEngineHandle_t	engine
	)

Returns the current status of a calibration routine.

Note

A valid calibration engine handle has to be provided.

Parameters

[out]	status	A pointer to the returned status
[in]	routine	Specifies the handle of the calibration routine to query
[in]	engine	Specifies the calibration engine module we are checking against

Returns

DW_INVALID_ARGUMENT - if the calibration routine is not managed by the calibration engine

DW_INVALID_HANDLE - if any of the provided handles is invalid, i.e., null or of wrong type

DW_SUCCESS - no error

dwCalibrationEngine_getOdometrySpeedFactor()

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.

Odometry speed factor can be estimated using multiple data sources. Following variants are currently supported: This estimation is enabled with 'dwCalibrationRadarParams::enableSpeedFactorEstimation' for 'dwCalibrationEngine_initializeRadar()`.

Parameters

[out]	odometrySpeedFactor	Factor to be applied on measured odometry speed to map to actual speed
[in]	routine	Specifies the handle of the calibration routine to query
[in]	engine	A pointer to the calibration engine handle that owns the sensor

Returns

DW_INVALID_ARGUMENT - if given odometrySpeedFactor is null

DW_INVALID_HANDLE - if any of the provided handles is invalid, i.e., null or of wrong type

DW_NOT_SUPPORTED - if calibration routine is not performing an odometry speed factor estimation

DW_SUCCESS - no error

Note

Speed factor returned is considered invalid unless dwCalibrationEngine_getCalibrationStatus() returns DW_CALIBRATION_STATE_ACCEPTED for the passed calibration routine.

The speed factor currently is only calibrated when vehicle is driving straight, i.e., steering angle of the front wheel within +-3deg. For this purpose, egomotion's steering signal is used to identify straight driving sections.

dwCalibrationEngine_getSensorToRigTransformation()

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.

Parameters

[out]	sensorToRig	A pointer to the return transform. The transform represents the extrinsic transformation from the sensor to the rig coordinate system
[in]	routine	Specifies the handle of the calibration routine to query
[in]	engine	Specifies the calibration engine module we are checking against

Note

A valid calibration engine handle has to be provided.

Returns

DW_INVALID_HANDLE - if any of the provided handles is invalid, i.e., null or of wrong type

DW_INVALID_ARGUMENT - if the calibration routine is not managed by the calibration engine

DW_NOT_SUPPORTED - if the calibration routine is not estimating a sensorToRigTransformation

DW_SUCCESS - no error

dwCalibrationEngine_getSensorToSensorTransformation()

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.

Parameters

[out]	sensorToSensor	A pointer to the return transform. The transform represents the extrinsic transformation from sensor A to sensor B coordinate system
[in]	routine	Specifies the handle of the calibration routine to query
[in]	indexA	index of sensor A
[in]	indexB	index of sensor B
[in]	engine	Specifies the calibration engine module we are checking against

Returns

DW_INVALID_HANDLE - if any of the provided handles is invalid

DW_INVALID_ARGUMENT - if the calibration routine is not managed by the calibration engine or if the calibration routine is not estimating a sensorToSensorTransformation

DW_NOT_AVAILABLE - if the sensors indices provided are not related to the calibration routine

DW_SUCCESS - no error

dwCalibrationEngine_getSupportedSignals()

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.

Parameters

[out]	signals	Bitflag indicating supported calibration type and enabled signal components (binary OR of dwCalibrationSignal)
[in]	routine	Specifies the handle of the calibration routine to query
[in]	engine	Specifies the calibration engine module we are checking against

Note

A valid calibration engine handle has to be provided.

Returns

DW_INVALID_HANDLE - if any of the provided handles is invalid, i.e., null or of wrong type

DW_INVALID_ARGUMENT - if the calibration routine is not managed by the calibration engine or supported is null

DW_SUCCESS - no error

dwCalibrationEngine_getVehicleSteeringProperties()

DW_API_PUBLIC dwStatus dwCalibrationEngine_getVehicleSteeringProperties	(	dwVehicleSteeringProperties *	steering,
		dwCalibrationRoutineHandle_t	routine,
		dwCalibrationEngineHandle_t	engine
	)

Get vehicle parameter calibration result.

Parameters

[out]	steering	A pointer to the calibration result of vehicle steering parameters
[in]	routine	Specifies the handle of the vehicle calibration routine to query
[in]	engine	A pointer to the calibration engine handle that owns the sensor.

Returns

DW_INVALID_HANDLE - if provided engine handle is invalid

DW_INVALID_ARGUMENT - if the calibration routine is not managed by the calibration engine

DW_NOT_SUPPORTED - if calibration routine is not estimating wheel radius

DW_SUCCESS - no error

dwCalibrationEngine_getVehicleWheelRadius()

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.

Wheel radius can be estimated using multiple data sources. Following variants are currently supported:

• Radar-based: uses Doppler-based speed as observed by the radar, comparing to individual wheel speed as reported by egomotion. This estimation is enabled with dwCalibrationRadarParams::enableWheelRadiiEstimation for 'dwCalibrationEngine_initializeRadar()`.

Parameters

[out]	radius	Return calibration wheel radius in [m] for a given wheel
[in]	wheel	Wheel to get radius for.
[in]	routine	Specifies the handle of the calibration routine to query
[in]	engine	A pointer to the calibration engine handle that owns the sensor

Returns

DW_INVALID_ARGUMENT - if given radius is null
DW_INVALID_HANDLE - if any of the provided handles is invalid
DW_NOT_SUPPORTED - if calibration routine is not estimating wheel radius
DW_SUCCESS - no error

dwCalibrationEngine_initialize()

DW_API_PUBLIC dwStatus dwCalibrationEngine_initialize	(	dwCalibrationEngineHandle_t *	engine,
		dwRigHandle_t	rig,
		dwContextHandle_t	context
	)

Creates and initializes a Calibration Engine.

Parameters

[out]	engine	A pointer to the calibration handle will be returned here
[in]	rig	Specifies the rig module that holds the sensor information
[in]	context	Specifies the handle to the context under which the Calibration Engine module is created

Note

The rig handle must remain valid until the calibration module has been released

Returns

DW_INVALID_ARGUMENT - if pointer to the engine handle is invalid

DW_INVALID_HANDLE - if provided context handle is invalid, i.e., null or of wrong type

DW_SUCCESS - no error

dwCalibrationEngine_initializeCamera()

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.

Parameters

[out]	routine	A pointer to the new calibration routine handle associated with this engine
[in]	sensorIndex	The index of the sensor we are creating a calibration for. This is the same as the sensor index in the rig configuration module
[in]	params	Specifies the parameters that are used in calibrating the camera
[in]	egomotion	Specifies the egomotion module that holds the motion of the vehicle
[in]	stream	The CUDA stream to use for all CUDA operations of the calibration routine
[in]	engine	A pointer to the calibration engine handle that owns the sensor

Runtime calibration dependencies (results will be inaccurate if not respected)

• any height calibration: absolute scale is inferred from egomotion, which needs to use calibrated odometry properties (e.g., wheel radii via radar self-calibration)
• side-camera roll calibration: side-camera roll is inferred from egomotion's axis of rotation, which needs to be based on an accurate IMU calibration

Note

The provided egomotion instance should be based on DW_EGOMOTION_IMU_ODOMETRY and the handle must remain valid until the calibration module has been released. Enabling the estimation of egomotion suspension using dwEgomotionSuspensionModel is beneficial for camera calibration accuracy and acceptance rates

Returns

DW_INVALID_ARGUMENT - if the arguments in the parameters are invalid, if the egomotion handle is invalid or if the routine handle is invalid

DW_INVALID_HANDLE - if provided engine handle is invalid, i.e., null or of wrong type

DW_BUFFER_FULL - if the number of sensors need to be calibrated exceeds

DW_CALIBRATION_MAXROUTINES value

DW_SUCCESS - no error

dwCalibrationEngine_initializeIMU()

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.

Parameters

[out]	routine	A pointer to the new calibration routine handle associated with this engine
[in]	imuIndex	The index of the sensor we are creating a calibration for. This is the same as the sensor index in the rig module
[in]	canIndex	Index of the CAN bus from which speed information will be provided as dwVehicleIOState
[in]	params	Specifies the parameters that are used to calibrate the IMU
[in]	engine	A pointer to the calibration engine handle that owns the sensor

Runtime calibration dependencies (results will be inaccurate if not respected)

• none

Note

The calibration engine must be provided with dwVehicleIOState and dwIMUFrame data using dwCalibrationEngine_addVehicleIOState and dwCalibrationEngine_addIMUFrame, respectively.

Returns

DW_INVALID_ARGUMENT - if the arguments in the parameters are invalid or if the routine handle is invalid

DW_INVALID_HANDLE - if provided engine handle is invalid, i.e., null or of wrong type, or the given indices do point to appropriate entries in the rig file

DW_BUFFER_FULL - if the number of sensors need to be calibrated exceeds the DW_CALIBRATION_MAXROUTINES value

DW_OUT_OF_BOUNDS - if the given indices point outside the rig file

DW_SUCCESS - no error

dwCalibrationEngine_initializeLidar()

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.

Parameters

[out]	routine	A pointer to the new calibration routine handle associated with this engine
[in]	lidarIndex	The index of the lidar to be calibrated. This is the same as the sensor index in the rig module
[in]	canIndex	Index of the CAN bus from which speed information will be provided as dwVehicleIOState
[in]	params	Specifies the parameters that are used to in calibrating the lidar
[in]	stream	The CUDA stream to use for all CUDA operations of the calibration routine
[in]	engine	A pointer to the calibration engine handle that owns the sensor

Note

The calibration engine must be provided with valid index of the CAN bus from which speed information will be provided as dwVehicleIOState

Returns

DW_INVALID_ARGUMENT - if the arguments in the parameters are invalid or if the routine handle is invalid

DW_INVALID_HANDLE - if provided engine handle is invalid,i.e. null or of wrong type

DW_BUFFER_FULL - if the number of sensors need to be calibrated exceeds DW_CALIBRATION_MAXROUTINES value.

DW_SUCCESS - no error

dwCalibrationEngine_initializeRadar()

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.

A radar calibration routine can also estimate odometry properties (speed factor / wheel radii) by matching reported wheel speeds with radar-based speed estimates (enabled in parameters).

Parameters

[out]	routine	A pointer to the new calibration routine handle associated with this engine
[in]	radarIndex	The index of the radar we are creating a calibration for. This is the same as the sensor index in the rig module
[in]	canIndex	Index of the CAN bus from which speed information will be provided as dwVehicleIOState
[in]	params	Specifies the parameters that are used to in calibrating the radar
[in]	engine	A pointer to the calibration engine handle that owns the sensor

Returns

DW_INVALID_ARGUMENT - if the arguments in the parameters are invalid or if the egomotion handle is invalid

DW_INVALID_HANDLE - if provided engine handle is invalid, i.e., null or of wrong type

DW_BUFFER_FULL - if the number of sensors need to be calibrated exceeds DW_CALIBRATION_MAXROUTINES value

DW_SUCCESS - no error

dwCalibrationEngine_initializeStereo()

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.

Parameters

[out]	routine	A pointer to the new calibration routine handle associated with this engine
[in]	vehicleSensorIndex	The index of the vehicle sensor. This is the same as the sensor index in the rig configuration module
[in]	leftSensorIndex	The index of the left camera sensor. This is the same as the sensor index in the rig configuration module
[in]	rightSensorIndex	The index of the right camera sensor. This is the same as the sensor index in the rig configuration module
[in]	params	Specifies the parameters that are used in calibrating the stereo camera rig
[in]	stream	The CUDA stream to use for all CUDA operations of the calibration routine
[in]	engine	A pointer to the calibration engine handle that owns the sensor

Runtime calibration dependencies (results will be inaccurate if not respected)

• none

Returns

DW_INVALID_ARGUMENT - if the arguments in the parameters are invalid

DW_INVALID_HANDLE - if provided engine handle is invalid

DW_BUFFER_FULL - if the number of sensors need to be calibrated exceeds DW_CALIBRATION_MAXROUTINES value

DW_SUCCESS - no error

dwCalibrationEngine_initializeVehicle()

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.

Parameters

[out]	routine	A pointer to the new calibration routine handle associated with this engine.
[in]	sensorIndex	The index of the sensor that provides vehicle i/o data. This should be the same as the number in the rig configuration module
[in]	params	Specifies the parameters that are used to in calibrating the vehicle parameters
[in]	egoMotion	Specifies the ego motion module that holds the motion of the vehicle, needs to be of DW_EGOMOTION_IMU_ODOMETRY motion type
[in]	vehicle	A pointer to a vehicle parametere data.
[in]	engine	A pointer to the calibration engine handle that owns the sensor.

Note

Runtime calibration dependencies (results will be inaccurate if not respected):

• IMU-based egomotion needs to be based on accurate IMU calibration and odometry properties

Returns

DW_INVALID_ARGUMENT - if the arguments in the parameters are invalid or wrong egomotion type is passed

DW_INVALID_HANDLE - if provided engine handle is invalid

DW_BUFFER_FULL - if the number of sensors need to be calibrated exceeds DW_CALIBRATION_MAXROUTINES value

DW_SUCCESS - no error

dwCalibrationEngine_release()

DW_API_PUBLIC dwStatus dwCalibrationEngine_release

(

dwCalibrationEngineHandle_t

engine

)

Releases the Calibration Engine module.

This method stops all calibrations that are in process and invalidates all calibration routines associated with the engine.

Note

This method renders the engine handle unusable

Parameters

[in]

engine

The calibration engine handle to be released

Returns

DW_INVALID_HANDLE - if provided engine handle is invalid, i.e., null or of wrong type

DW_SUCCESS - no error

dwCalibrationEngine_reset()

DW_API_PUBLIC dwStatus dwCalibrationEngine_reset

(

dwCalibrationEngineHandle_t

engine

)

Resets the Calibration Engine module.

This method resets all calibrations that are being calculated by the module. The method does not remove all calibration routines associated with the engine, but rather resets each individual one.

Parameters

[in]

engine

Specifies the calibration engine handle to reset

Returns

DW_INVALID_HANDLE - if provided engine handle is invalid, i.e., null or of wrong type

DW_SUCCESS - no error

Note

The call is equivalent in calling dwCalibrationEngine_resetCalibration() for all created routines

dwCalibrationEngine_resetCalibration()

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.

Note

Resetting a calibration routine will revert to nominal baseline calibration

Parameters

[in]	routine	Specifies the handle of the calibration routine to reset
[in]	engine	Specifies the handle to the calibration engine that is managing the calibration

Returns

DW_INVALID_HANDLE - if provided engine handle is invalid, i.e., null or of wrong type or if the calibration routine is not managed by the calibration engine

DW_SUCCESS - no error

dwCalibrationEngine_startCalibration()

DW_API_PUBLIC dwStatus dwCalibrationEngine_startCalibration	(	dwCalibrationRoutineHandle_t	routine,
		dwCalibrationEngineHandle_t	engine
	)

Starts a calibration routine associated with a calibration engine.

Note

Calibrations should only be started once runtime calibration dependencies are met.

Parameters

[in]	routine	Specifies the handle of the calibration routine to start
[in]	engine	Specifies the handle of the calibration routine that is managing the calibration

Returns

DW_INVALID_HANDLE - if provided engine handle is invalid, i.e., null or of wrong type or if the calibration routine is not managed by the calibration engine

DW_SUCCESS - no error

dwCalibrationEngine_stopCalibration()

DW_API_PUBLIC dwStatus dwCalibrationEngine_stopCalibration	(	dwCalibrationRoutineHandle_t	routine,
		dwCalibrationEngineHandle_t	engine
	)

Stops a calibration routine associated with a calibration engine.

Note

A valid calibration engine handle has to be provided.

Parameters

[in]	routine	Specifies the handle of the calibration routine to start
[in]	engine	Specifies the handle of the calibration routine that is managing the calibration

Returns

DW_INVALID_HANDLE - if provided engine handle is invalid , i.e., null or of wrong type or if the calibration routine is not managed by the calibration engine

DW_SUCCESS - no error