dwLidarPointCloudAccumulatorNode.hpp

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#ifndef DW_FRAMEWORK_LIDARPOINTCLOUDACCUMULATOR_NODE_HPP_
#define DW_FRAMEWORK_LIDARPOINTCLOUDACCUMULATOR_NODE_HPP_
 
#include <dwcgf/node/Node.hpp>
#include <dwcgf/port/PortDescriptor.hpp>
#include <dwcgf/pass/PassDescriptor.hpp>
#include <dwcgf/parameter/ParameterDescriptor.hpp>
#include <dwcgf/parameter/SemanticParameterTypes.hpp>
#include <dwframework/dwnodes/common/SensorCommonTypes.hpp>
/* Need to include the appropriate ChannelPacketTypes.hpp since port initialization requires
   the parameter_trait overrides. Otherwise, it will be considered as a packet of generic type. */
#include <dwframework/dwnodes/common/ChannelPacketTypes.hpp>
 
#include <dw/pointcloudprocessing/accumulator/PointCloudAccumulator.h>
 
#include <dwcgf/logger/Logger.hpp>
 
namespace dw
{
namespace framework
{
 
struct dwPointCloudAccumulatorNodeParams
{
    dwPointCloudAccumulatorParams pointCloudAccuParams;
    bool enableEgomotionCompensation;
    dwLidarProperties lidarProperties;
    dwEgomotionParameters egomotionParams;
    bool throttlePipeline;
    cudaStream_t cudaStream;
};
 
class dwLidarPointCloudAccumulatorNode : public ExceptionSafeProcessNode
{
public:
    static constexpr char LOG_TAG[] = "dwLidarPointCloudAccumulatorNode";
 
    static constexpr auto describeInputPorts()
    {
        return describePortCollection(
            DW_DESCRIBE_PORT(dwLidarPacketsArray, "LIDAR_PACKETS_ARRAY"_sv),
            DW_DESCRIBE_PORT(dwEgomotionStateHandle_t, "EGOMOTION_STATE"_sv),
            DW_DESCRIBE_PORT(dwSensorNodeProperties, "LIDAR_EXTRINSICS"_sv));
    };
    static constexpr auto describeOutputPorts()
    {
        return describePortCollection(
            DW_DESCRIBE_PORT(dwPointCloud, "POINT_CLOUD"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT(bool, "POINT_CLOUD_AVAILABLE"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT(dwVector2ui, "LIDAR_ACCUMULATOR_SWEEP_SIZE"_sv, PortBinding::REQUIRED));
    };
 
    static constexpr auto describePasses()
    {
        return describePassCollection(
            describePass("SETUP"_sv, DW_PROCESSOR_TYPE_CPU),
            describePass("PROCESS_GPU_ASYNC"_sv, DW_PROCESSOR_TYPE_GPU),
            describePass("PROCESS_CPU_SYNC"_sv, DW_PROCESSOR_TYPE_CPU),
            describePass("TEARDOWN"_sv, DW_PROCESSOR_TYPE_CPU));
    };
 
    static constexpr auto describeParameters()
    {
        return describeConstructorArguments<dwPointCloudAccumulatorNodeParams,
                                            dwContextHandle_t>(
            describeConstructorArgument(
                DW_DESCRIBE_PARAMETER(
                    dwMemoryType,
                    "memoryType"_sv,
                    &dwPointCloudAccumulatorNodeParams::pointCloudAccuParams, &dwPointCloudAccumulatorParams::memoryType),
                DW_DESCRIBE_PARAMETER(
                    uint32_t,
                    "outputFormats"_sv,
                    &dwPointCloudAccumulatorNodeParams::pointCloudAccuParams, &dwPointCloudAccumulatorParams::outputFormats),
                DW_DESCRIBE_PARAMETER(
                    uint32_t,
                    "filterWindowSize"_sv,
                    &dwPointCloudAccumulatorNodeParams::pointCloudAccuParams, &dwPointCloudAccumulatorParams::filterWindowSize),
                DW_DESCRIBE_PARAMETER(
                    float32_t,
                    "minAngleDegree"_sv,
                    &dwPointCloudAccumulatorNodeParams::pointCloudAccuParams, &dwPointCloudAccumulatorParams::minAngleDegree),
                DW_DESCRIBE_PARAMETER(
                    float32_t,
                    "maxAngleDegree"_sv,
                    &dwPointCloudAccumulatorNodeParams::pointCloudAccuParams, &dwPointCloudAccumulatorParams::maxAngleDegree),
                DW_DESCRIBE_PARAMETER(
                    float32_t,
                    "minDistanceMeter"_sv,
                    &dwPointCloudAccumulatorNodeParams::pointCloudAccuParams, &dwPointCloudAccumulatorParams::minDistanceMeter),
                DW_DESCRIBE_PARAMETER(
                    float32_t,
                    "maxDistanceMeter"_sv,
                    &dwPointCloudAccumulatorNodeParams::pointCloudAccuParams, &dwPointCloudAccumulatorParams::maxDistanceMeter),
                DW_DESCRIBE_PARAMETER(
                    bool,
                    "enableMotionCompensation"_sv,
                    &dwPointCloudAccumulatorNodeParams::pointCloudAccuParams, &dwPointCloudAccumulatorParams::enableMotionCompensation),
                DW_DESCRIBE_PARAMETER(
                    bool,
                    "organized"_sv,
                    &dwPointCloudAccumulatorNodeParams::pointCloudAccuParams, &dwPointCloudAccumulatorParams::organized),
                DW_DESCRIBE_PARAMETER(
                    bool,
                    "enableZeroCrossDetection"_sv,
                    &dwPointCloudAccumulatorNodeParams::pointCloudAccuParams, &dwPointCloudAccumulatorParams::enableZeroCrossDetection),
                DW_DESCRIBE_PARAMETER(
                    bool,
                    "outputInRigCoordinates"_sv,
                    &dwPointCloudAccumulatorNodeParams::pointCloudAccuParams, &dwPointCloudAccumulatorParams::outputInRigCoordinates),
                DW_DESCRIBE_INDEX_PARAMETER_WITH_SEMANTIC(
                    dwTransformation3f,
                    semantic_parameter_types::LidarExtrinsics,
                    "sensorId"_sv,
                    &dwPointCloudAccumulatorNodeParams::pointCloudAccuParams, &dwPointCloudAccumulatorParams::sensorTransformation),
                DW_DESCRIBE_PARAMETER(
                    bool,
                    "enableEgomotionCompensation"_sv,
                    &dwPointCloudAccumulatorNodeParams::enableEgomotionCompensation),
                DW_DESCRIBE_INDEX_PARAMETER(
                    dwLidarProperties,
                    "sensorId"_sv,
                    &dwPointCloudAccumulatorNodeParams::lidarProperties),
                DW_DESCRIBE_UNNAMED_PARAMETER_WITH_SEMANTIC(
                    bool,
                    semantic_parameter_types::Virtual,
                    &dwPointCloudAccumulatorNodeParams::throttlePipeline),
                DW_DESCRIBE_INDEX_PARAMETER(
                    cudaStream_t,
                    "streamIndex"_sv,
                    &dwPointCloudAccumulatorNodeParams::cudaStream)),
            describeConstructorArgument(
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwContextHandle_t)));
    };
 
    static std::unique_ptr<dwLidarPointCloudAccumulatorNode> create(ParameterProvider& provider);
 
    dwLidarPointCloudAccumulatorNode(const dwPointCloudAccumulatorNodeParams& paramsPointCloud,
                                     const dwContextHandle_t ctx);
};
 
} // namespace framework
} // namespace dw
 
#endif //DW_FRAMEWORK_LIDARPOINTCLOUDACCUMULATOR_NODE_HPP_