dwLidarPointCloudStitcherNode.hpp

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#ifndef DW_FRAMEWORK_POINTCLOUD_STITCHERNODE_NODE_HPP_
#define DW_FRAMEWORK_POINTCLOUD_STITCHERNODE_NODE_HPP_
 
#include <dwcgf/node/Node.hpp>
#include <dwcgf/parameter/ParameterDescriptor.hpp>
#include <dwcgf/parameter/SemanticParameterTypes.hpp>
#include <dwcgf/pass/PassDescriptor.hpp>
#include <dwcgf/port/Port.hpp>
#include <dwcgf/port/PortDescriptor.hpp>
#include <dwframework/dwnodes/common/SensorCommonTypes.hpp>
#include <dwframework/dwnodes/common/PointCloudProcessingCommonTypes.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/stitcher/PointCloudStitcher.h>
 
namespace dw
{
namespace framework
{
 
struct dwLidarPointCloudStitcherNodeParams
{
    bool enabledLidar[MAX_LIDAR_STITCHER_PORT_NUM];
    dwLidarProperties lidarProperties[MAX_LIDAR_STITCHER_PORT_NUM];
    dwTransformation3f lidar2RigDefault[MAX_LIDAR_STITCHER_PORT_NUM];
    dwMemoryType memoryType;
    dwPointCloudFormat outputFormat;
 
    cudaStream_t stream;
};
 
template <>
struct EnumDescription<dwPointCloudFormat>
{
    static constexpr auto get()
    {
        return describeEnumeratorCollection<dwPointCloudFormat>(
            DW_DESCRIBE_C_ENUMERATOR(DW_POINTCLOUD_FORMAT_XYZI),
            DW_DESCRIBE_C_ENUMERATOR(DW_POINTCLOUD_FORMAT_RTHI));
    }
};
 
template <>
struct EnumDescription<dwMemoryType>
{
    static constexpr auto get()
    {
        return describeEnumeratorCollection<dwMemoryType>(
            DW_DESCRIBE_C_ENUMERATOR(DW_MEMORY_TYPE_CUDA),
            DW_DESCRIBE_C_ENUMERATOR(DW_MEMORY_TYPE_CPU),
            DW_DESCRIBE_C_ENUMERATOR(DW_MEMORY_TYPE_PINNED));
    }
};
 
class dwLidarPointCloudStitcherNode : public ExceptionSafeProcessNode
{
public:
    static constexpr char LOG_TAG[] = "dwLidarPointCloudStitcherNode";
 
    static constexpr auto describeInputPorts()
    {
        using namespace dw::framework;
        return describePortCollection(
            DW_DESCRIBE_PORT_ARRAY(dwPointCloud, MAX_LIDAR_STITCHER_PORT_NUM, "LIDAR_PACKETS"_sv),
            DW_DESCRIBE_PORT_ARRAY(dwSensorNodeProperties, MAX_LIDAR_STITCHER_PORT_NUM, "LIDAR_EXTRINSICS"_sv),
            DW_DESCRIBE_PORT(dwEgomotionStateHandle_t, "EGOMOTION_STATE"_sv));
    };
 
    static constexpr auto describeOutputPorts()
    {
        using namespace dw::framework;
        return describePortCollection(
            DW_DESCRIBE_PORT(dwPointCloud, "POINT_CLOUD"_sv));
    };
 
    static constexpr auto describePasses()
    {
        return describePassCollection(
            describePass("SETUP"_sv, DW_PROCESSOR_TYPE_CPU),
            describePass("PROCESS_GPU"_sv, DW_PROCESSOR_TYPE_GPU),
            describePass("PROCESS_CPU"_sv, DW_PROCESSOR_TYPE_CPU),
            describePass("TEARDOWN"_sv, DW_PROCESSOR_TYPE_CPU));
    };
 
    static std::unique_ptr<dwLidarPointCloudStitcherNode> create(ParameterProvider& provider);
 
    static constexpr auto describeParameters()
    {
        return describeConstructorArguments<dwLidarPointCloudStitcherNodeParams, dwContextHandle_t>(
            describeConstructorArgument(
                DW_DESCRIBE_UNNAMED_ARRAY_PARAMETER_WITH_SEMANTIC(
                    bool,
                    semantic_parameter_types::LidarEnabled,
                    MAX_LIDAR_STITCHER_PORT_NUM,
                    &dwLidarPointCloudStitcherNodeParams::enabledLidar),
                DW_DESCRIBE_UNNAMED_ARRAY_PARAMETER(
                    dwLidarProperties,
                    MAX_LIDAR_STITCHER_PORT_NUM,
                    &dwLidarPointCloudStitcherNodeParams::lidarProperties),
                DW_DESCRIBE_UNNAMED_ARRAY_PARAMETER_WITH_SEMANTIC(
                    dwTransformation3f,
                    semantic_parameter_types::LidarExtrinsics,
                    MAX_LIDAR_STITCHER_PORT_NUM,
                    &dwLidarPointCloudStitcherNodeParams::lidar2RigDefault),
                DW_DESCRIBE_PARAMETER(
                    dwMemoryType,
                    "memoryType"_sv,
                    &dwLidarPointCloudStitcherNodeParams::memoryType),
                DW_DESCRIBE_PARAMETER(
                    dwPointCloudFormat,
                    "outputFormat"_sv,
                    &dwLidarPointCloudStitcherNodeParams::outputFormat),
                DW_DESCRIBE_INDEX_PARAMETER(
                    cudaStream_t,
                    "stream"_sv,
                    &dwLidarPointCloudStitcherNodeParams::stream)),
            describeConstructorArgument(
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwContextHandle_t)));
    }
 
    dwLidarPointCloudStitcherNode(const dwLidarPointCloudStitcherNodeParams&,
                                  dwContextHandle_t ctx);
};
}
}
 
#endif //DW_FRAMEWORK_LIDAR_POINTCLOUD_ACCUMULATOR_NODE_HPP_