Point Cloud Processing Interface

Detailed Description

Defines point cloud processing datatypes and memory handling functions.

Data Structures
struct	dwPointCloud
	Defines point cloud data structure. More...
struct	dwPointCloudAuxChannel
	Struct holding information about aux channel. More...
struct	dwPointCloudLayer
	Struct holding information about a single point cloud layer. More...

Modules
	Point Cloud Accumulator
	Defines datatypes and functions to accumulate cloud of points.
	Point Cloud Filter
	Defines module to perform point cloud box filtering.
	Point Cloud ICP
	Defines Point Cloud ICP module to align point clouds using iterative closest point algorithms.
	Point Cloud Plane Extractor
	Defines module to extract one 3D plane nearby the sensor.
	Point Cloud Range Image Creator
	Defines module to produce range image via spherical projection of the point cloud.
	Point Cloud Stitcher
	Defines module to register/stitch multiple sets of point clouds.

Macros
#define	DW_POINT_CLOUD_MAX_AUX_CHANNELS   16U
#define	DW_POINT_CLOUD_MAX_LAYERS   16U

Enumerations
enum	dwPointCloudFormat {   DW_POINTCLOUD_FORMAT_XYZI = 0 ,   DW_POINTCLOUD_FORMAT_RTHI = 1 }
	Defines point format. More...

Functions
DW_API_PUBLIC dwStatus	dwPointCloud_create (dwPointCloud *pointCloud, dwPointCloudFormat const format, dwMemoryType const memoryType, uint32_t const maxPointsPerLayer, uint32_t const numRequestedLayers, uint32_t const *auxChannelsElemSize, uint32_t const numRequestedAuxChannels)
	Create point cloud with layers and aux channel information. More...
DW_API_PUBLIC dwStatus	dwPointCloud_createBuffer (dwPointCloud *buffer)
	Allocates memory for point cloud data structure. More...
DW_API_PUBLIC dwStatus	dwPointCloud_destroy (dwPointCloud *pointCloud)
	Destroy point cloud buffers. More...
DW_API_PUBLIC dwStatus	dwPointCloud_destroyBuffer (dwPointCloud *buffer)
	Destroys allocated memory for point cloud data structure. More...

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Data Structure Documentation

dwPointCloud

struct dwPointCloud

Data Fields
dwPointCloudAuxChannel	auxChannels[DW_POINT_CLOUD_MAX_AUX_CHANNELS]
uint32_t	capacity	numLayers * maxPointsPerLayer
dwPointCloudFormat	format	Format of a buffer.
dwTime_t	hostEndTimestamp	Point cloud end timestamp.
dwTime_t	hostStartTimestamp	Point cloud start timestamp.
dwPointCloudLayer	layers[DW_POINT_CLOUD_MAX_LAYERS]
uint32_t	maxPointsPerLayer	Maximum number of points in layer (use even number of points to benefit from aligned memory access per layer if each point is 16 bytes long)
uint32_t	numAuxChannels	Number of aux channels in a point cloud.
uint32_t	numLayers	Number of layers in a point cloud.
bool	organized	Flag indicating the data is ordered on the 3D grid.
void *	points	Pointer to memory buffer of all points. Not compact, but contiguous with invalid points in between layers.
uint32_t	size	Number of points in the cloud including all layers.
dwTime_t	timestamp	Time when the point cloud capturing is finished.
dwMemoryType	type	Defines type of a memory GPU or CPU.

dwPointCloudAuxChannel

struct dwPointCloudAuxChannel

Data Fields
uint32_t	channelIdx	Channel index the aux data refers to.
void *	data	Pointer to the start of the data for this channel. Number of elements is the size of the point cloud. To access channel[C] for point I, one would do pc.auxChannels[C].data[I]
uint32_t	elementSize	Size in bytes of an element in the aux buffer.
uint32_t	size	Number of elements in a channel.

dwPointCloudLayer

struct dwPointCloudLayer

Data Fields
uint32_t	layerIdx	Index of a layer within a point cloud.
const void *	points	Pointer to the start of the data for this layer.
uint32_t	size	Number of points in a layer (. Note : points are not compactified, that means there are at most maxPointsPerLayer entries whereby some of them are (0,0,0,0) indicating an invalid point)

Macro Definition Documentation

DW_POINT_CLOUD_MAX_AUX_CHANNELS

#define DW_POINT_CLOUD_MAX_AUX_CHANNELS   16U

Definition at line 93 of file PointCloud.h.

DW_POINT_CLOUD_MAX_LAYERS

#define DW_POINT_CLOUD_MAX_LAYERS   16U

Definition at line 92 of file PointCloud.h.

Enumeration Type Documentation

dwPointCloudFormat

enum dwPointCloudFormat

Defines point format.

Enumerator
DW_POINTCLOUD_FORMAT_XYZI	Cartesian 3D coordinate + intensity.
DW_POINTCLOUD_FORMAT_RTHI	Polar 3D coordinate + intensity.

Definition at line 60 of file PointCloud.h.

Function Documentation

dwPointCloud_create()

DW_API_PUBLIC dwStatus dwPointCloud_create	(	dwPointCloud *	pointCloud,
		dwPointCloudFormat const	format,
		dwMemoryType const	memoryType,
		uint32_t const	maxPointsPerLayer,
		uint32_t const	numRequestedLayers,
		uint32_t const *	auxChannelsElemSize,
		uint32_t const	numRequestedAuxChannels
	)

Create point cloud with layers and aux channel information.

Parameters

[out]	pointCloud	Point cloud to be created
[in]	format	Point cloud format XYZI or RTHI
[in]	memoryType	Point cloud memory type, CUDA, CPU or PINNED
[in]	maxPointsPerLayer	Maximum number of points in single layer
[in]	numRequestedLayers	Number of layer in a point cloud
[in]	auxChannelsElemSize	An array of auxiliary channel elements sizes
[in]	numRequestedAuxChannels	Number of requested aux channels

Returns

DW_SUCCESS
DW_INVALID_ARGUMENT If provided pointer to point cloud is null

dwPointCloud_createBuffer()

DW_API_PUBLIC dwStatus dwPointCloud_createBuffer

(

dwPointCloud *

buffer

)

Allocates memory for point cloud data structure.

Parameters

[out]

buffer

Pointer to dwPointCloud

Returns

DW_SUCCESS
DW_INVALID_ARGUMENT

Note

User must specify the followings for the argument buffer:

1. The member variable capacity to indicate the memory allocation size
2. The member variable type to indicate the memory type, either host memory or device memory

Upon successful return, this API will set size to zero to indicate it contains no element in the memory By default this API will set organized to false

This API does not add any information on point cloud layers and auxiliary channels. Upon successful return numLayers and numAuxChannelsare both set to zero.

dwPointCloud_destroy()

DW_API_PUBLIC dwStatus dwPointCloud_destroy

(

dwPointCloud *

pointCloud

)

Destroy point cloud buffers.

Parameters

[in]

pointCloud

A pointer to point cloud

Note

The call releases all the memory associated with point cloud.

Returns

DW_SUCCESS
DW_INVALID_HANDLE

dwPointCloud_destroyBuffer()

DW_API_PUBLIC dwStatus dwPointCloud_destroyBuffer

(

dwPointCloud *

buffer

)

Destroys allocated memory for point cloud data structure.

Parameters

[out]

buffer

Pointer to dwPointCloud

Returns

DW_SUCCESS
DW_INVALID_ARGUMENT