31#ifndef DW_FRAMEWORK_SELF_CALIBRATION_NODE_HPP_
32#define DW_FRAMEWORK_SELF_CALIBRATION_NODE_HPP_
46#include <dw/calibration/engine/Engine.h>
47#include <dw/calibration/engine/camera/CameraParamsExtra.h>
111 static constexpr char LOG_TAG[] =
"dwSelfCalibrationNode";
119 DW_DESCRIBE_PORT(dwVehicleIONonSafetyState,
"VEHICLE_IO_NON_SAFETY_STATE"_sv),
145 describePass(
"PROCESS_VEHICLE_IO_NON_SAFETY_STATE"_sv, DW_PROCESSOR_TYPE_CPU),
146 describePass(
"PROCESS_CAMERA_GPU_ASYNC"_sv, DW_PROCESSOR_TYPE_GPU),
147 describePass(
"PROCESS_CAMERA_CPU_SYNC"_sv, DW_PROCESSOR_TYPE_CPU),
148 describePass(
"PROCESS_RADAR"_sv, DW_PROCESSOR_TYPE_CPU),
149 describePass(
"PROCESS_LIDAR_GPU_ASYNC"_sv, DW_PROCESSOR_TYPE_GPU),
150 describePass(
"PROCESS_LIDAR_CPU_SYNC"_sv, DW_PROCESSOR_TYPE_CPU),
151 describePass(
"SEND_ROADCAST"_sv, DW_PROCESSOR_TYPE_CPU),
159 return describeConstructorArguments<dwSelfCalibrationNodeParam, dwContextHandle_t>(
166 "enforceDependencies"_sv,
170 "calibrateVehicle"_sv,
174 "radarSensorWheelCalibration"_sv,
179 "cameraSensorIndices"_sv,
183 "cameraSensorStreamIndices"_sv,
187 "cameraEnabledMask"_sv,
191 "cameraCalibrationMethod"_sv,
195 "cameraCalibrationSignals"_sv,
200 "radarSensorIndices"_sv,
204 "radarSensorStreamIndices"_sv,
208 "radarEnabledMask"_sv,
213 "lidarSensorIndices"_sv,
217 "lidarSensorStreamIndices"_sv,
221 "lidarEnabledMask"_sv,
226 "channelFifoSize"_sv,
230 dwContextHandle_t)));
#define DW_DESCRIBE_ABSTRACT_ARRAY_PARAMETER(TYPE_NAME, args...)
#define DW_DESCRIBE_UNNAMED_PARAMETER(TYPE_NAME, args...)
#define DW_DESCRIBE_PARAMETER(TYPE_NAME, args...)
#define DW_DESCRIBE_PORT(TYPE_NAME, args...)
#define DW_DESCRIBE_PORT_ARRAY(TYPE_NAME, ARRAYSIZE, args...)
The interface to access parameter values identified by name and/or (semantic) type.
static constexpr auto describeInputPorts()
static constexpr auto describePasses()
static std::unique_ptr< dwSelfCalibrationNode > create(ParameterProvider &provider)
static constexpr auto describeOutputPorts()
static constexpr char LOG_TAG[]
static constexpr auto describeParameters()
dwSelfCalibrationNode(const dwSelfCalibrationNodeParam ¶m, const dwContextHandle_t ctx)
bool lidarHandEyeUsesEgomotion
bool sensorEnabledGlobally
dwCameraProperties cameraProps
dwSelfCalibrationNodeCameraParams cameraParams[SELF_CALIBRATION_NODE_MAX_CAMERAS]
dwSelfCalibrationNodeRadarParams radarParams[SELF_CALIBRATION_NODE_MAX_RADARS]
uint32_t maxDisplayPoints
dwLidarProperties lidarProps
bool sensorEnabledCalibrationMask
bool sensorEnabledGlobally
dwRadarProperties radarProps
bool sensorEnabledCalibrationMask
int32_t calibrateOdometryPropertyRadar
uint32_t lidarMaxICPIterations
constexpr auto describePortCollection(Args &&... args)
CalibratedSteeringProperties { dwVehicleSteeringProperties steeringProperties dwCalibratedSteeringProperties
uint32_t accumulatorDownsampleFactor
constexpr std::tuple< dw::core::StringView, dwProcessorType > describePass(dw::core::StringView const &&name, dwProcessorType processorType)
dwLidarPose { dwTime_t timeStampNow dwLidarPose
CalibratedExtrinsics { CalibrationExtrinsicProfileName extrinsicProfileName dwCalibratedExtrinsics
bool sensorEnabledGlobally
dwRoadCastNodeCalibrationDataArray { dwRoadCastNodeCalibrationData calibrationData[MAX_CALIBRATION_SENSORS] dwRoadCastNodeCalibrationDataArray
dwCameraModelHandle_t cameraHandle
uint32_t calibrationSignals
static constexpr uint8_t SELF_CALIBRATION_NODE_MAX_LIDARS
constexpr auto describeConstructorArgument(const Args &&... args)
uint32_t calibrationMethod
dwSelfCalibrationNodeLidarParams lidarParams[SELF_CALIBRATION_NODE_MAX_LIDARS]
static constexpr uint8_t SELF_CALIBRATION_NODE_MAX_CAMERAS
constexpr auto describePassCollection(const Args &&... args)
CalibratedWheelRadii { float32_t currentWheelRadius[DW_VEHICLE_NUM_WHEELS] dwCalibratedWheelRadii
uint32_t trackerMaxHistorySize
bool sensorEnabledCalibrationMask
static constexpr uint8_t SELF_CALIBRATION_NODE_MAX_RADARS
uint32_t trackerMaxFeatureCount