NVIDIA DriveWorks API: Rig Configuration
Description: This file defines vehicle rig configuration methods.
Definition in file Rig.h.
Go to the source code of this file.
Data Structures | |
| struct | dwFThetaCameraConfig |
| DEPRECATED: Configuration parameters for a calibrated FTheta camera. More... | |
| struct | dwFThetaCameraConfigNew |
| Configuration parameters for a calibrated FTheta camera. More... | |
| struct | dwOCamCameraConfig |
| DEPRECATED: Configuration parameters for a calibrated ominidirectional (OCam) sphere camera. More... | |
| struct | dwPinholeCameraConfig |
| Configuration parameters for a calibrated pinhole camera. More... | |
| struct | dwStereographicCameraConfig |
| Configuration parameters for a calibrated stereographic camera. More... | |
Macros | |
| #define | DW_FTHETA_POLY_LENGTH 6U |
| Defines the number of distortion coefficients for the ftheta camera model. More... | |
| #define | DW_MAX_EXTRINSIC_PROFILE_NAME_SIZE 64U |
| Defines the maximum length of a sensor extrinsic profile name. More... | |
| #define | DW_MAX_RIG_CAMERA_COUNT DW_MAX_RIG_SENSOR_COUNT |
| Defines the maximum number of cameras in a rig. More... | |
| #define | DW_MAX_RIG_SENSOR_COUNT 128U |
| Defines the maximum number of sensors in a rig. More... | |
| #define | DW_MAX_RIG_SENSOR_NAME_SIZE 64U |
| Defines the maximum length of a sensor name in a rig. More... | |
| #define | DW_OCAM_POLY_LENGTH 5U |
| Defines the number of distortion coefficients for the OCAM camera model. More... | |
| #define | DW_PINHOLE_DISTORTION_LENGTH 3U |
| Defines the number of distortion coefficients for the pinhole camera model. More... | |
| #define | MAX_EXTRINSIC_PROFILE_COUNT 3U |
| maximal number of extrinsic profiles per sensor. More... | |
Typedefs | |
| typedef struct dwRigObject const * | dwConstRigHandle_t |
| typedef struct dwRigObject * | dwRigHandle_t |
| Handle representing the Rig interface. More... | |
Enumerations | |
| enum | dwCameraModel { DW_CAMERA_MODEL_OCAM = 0 , DW_CAMERA_MODEL_PINHOLE = 1 , DW_CAMERA_MODEL_FTHETA = 2 } |
| Specifies the supported optical camera models. More... | |
| enum | dwFThetaCameraPolynomialType { DW_FTHETA_CAMERA_POLYNOMIAL_TYPE_PIXELDISTANCE_TO_ANGLE = 0 , DW_FTHETA_CAMERA_POLYNOMIAL_TYPE_ANGLE_TO_PIXELDISTANCE } |
| Type of polynomial stored in FTheta. More... | |
Functions | |
| DW_API_PUBLIC dwStatus | dwRig_addOrSetPropertyByName (char8_t const *const propertyValue, char8_t const *const propertyName, dwRigHandle_t const obj) |
| Overwrite content of an existing rig property. More... | |
| DW_API_PUBLIC dwStatus | dwRig_addOrSetSensorPropertyByName (char8_t const *const propertyValue, char8_t const *const propertyName, uint32_t const sensorId, dwRigHandle_t const obj) |
| Overwrite content of an existing sensor property. More... | |
| DW_API_PUBLIC dwStatus | dwRig_findSensorByName (uint32_t *const sensorId, char8_t const *const sensorName, dwConstRigHandle_t const obj) |
| Finds the sensor with the given name and returns its index. More... | |
| DW_API_PUBLIC dwStatus | dwRig_findSensorByTypeIndex (uint32_t *const sensorId, dwSensorType const sensorType, uint32_t const sensorTypeIndex, dwConstRigHandle_t const obj) |
| Finds the absolute sensor index of the Nth sensor of a given type. More... | |
| DW_API_PUBLIC dwStatus | dwRig_findSensorIdFromVehicleIOId (uint32_t *const sensorId, uint32_t const vehicleIOId, dwConstRigHandle_t const obj) |
| Finds a sensor with the given vehicleIO ID and returns the index. More... | |
| DW_API_PUBLIC dwStatus | dwRig_getCameraModel (dwCameraModel *const cameraModel, uint32_t const sensorId, dwConstRigHandle_t const obj) |
| Gets the model type of the camera intrinsics. More... | |
| DW_API_PUBLIC dwStatus | dwRig_getCameraTimestampPath (char8_t const **const timestampPath, uint32_t const sensorId, dwConstRigHandle_t const obj) |
| Gets path to camera timestamp file. More... | |
| DW_API_PUBLIC dwStatus | dwRig_getFThetaCameraConfig (dwFThetaCameraConfig *const config, uint32_t const sensorId, dwConstRigHandle_t const obj) |
| Gets the parameters of the FTheta camera model. More... | |
| DW_API_PUBLIC dwStatus | dwRig_getFThetaCameraConfigNew (dwFThetaCameraConfigNew *const config, uint32_t const sensorId, dwConstRigHandle_t const obj) |
| Gets the parameters of the FTheta camera model. More... | |
| DW_API_PUBLIC dwStatus | dwRig_getGenericVehicle (dwGenericVehicle *const vehicle, dwConstRigHandle_t const obj) |
| Gets the properties of a generic vehicle (car or truck). More... | |
| DW_API_PUBLIC dwStatus | dwRig_getNominalSensorToRigTransformation (dwTransformation3f *const transformation, uint32_t const sensorId, dwConstRigHandle_t const obj) |
| Gets the nominal sensor to rig transformation for a sensor. More... | |
| DW_API_PUBLIC dwStatus | dwRig_getNominalSensorToSensorTransformation (dwTransformation3f *const transformation, uint32_t const sensorIdFrom, uint32_t const sensorIdTo, dwConstRigHandle_t const obj) |
| Gets the nominal sensor to sensor transformation for a pair of sensors. More... | |
| DW_API_PUBLIC dwStatus | dwRig_getOCamCameraConfig (dwOCamCameraConfig *const config, uint32_t const sensorId, dwConstRigHandle_t const obj) |
| Gets the parameters of the OCam camera model. More... | |
| DW_API_PUBLIC dwStatus | dwRig_getPinholeCameraConfig (dwPinholeCameraConfig *const config, uint32_t const sensorId, dwConstRigHandle_t const obj) |
| Gets the parameters of the Pinhole camera model. More... | |
| DW_API_PUBLIC dwStatus | dwRig_getPropertyByName (char8_t const **const propertyValue, char8_t const *const propertyName, dwConstRigHandle_t const obj) |
| Returns property stored inside of rig. More... | |
| DW_API_PUBLIC dwStatus | dwRig_getSensorCount (uint32_t *const sensorCount, dwConstRigHandle_t const obj) |
| Gets the number of all available sensors. More... | |
| DW_API_PUBLIC dwStatus | dwRig_getSensorCountOfType (uint32_t *const sensorCount, dwSensorType const sensorType, dwConstRigHandle_t const obj) |
| Find number of sensors of a given type. More... | |
| DW_API_PUBLIC dwStatus | dwRig_getSensorDataPath (char8_t const **const dataPath, uint32_t const sensorId, dwConstRigHandle_t const obj) |
| Gets path to sensor recording. More... | |
| DW_API_PUBLIC dwStatus | dwRig_getSensorFLUToRigTransformation (dwTransformation3f *const transformation, uint32_t const sensorId, dwConstRigHandle_t const obj) |
| Gets the sensor FLU to rig transformation for a sensor. More... | |
| DW_API_PUBLIC dwStatus | dwRig_getSensorName (char8_t const **const sensorName, uint32_t const sensorId, dwConstRigHandle_t const obj) |
| Gets the name of a sensor as given in the configuration. More... | |
| DW_API_PUBLIC dwStatus | dwRig_getSensorParameter (char8_t const **const sensorParameter, uint32_t const sensorId, dwConstRigHandle_t const obj) |
| Gets the parameter string for a sensor. More... | |
| DW_API_PUBLIC dwStatus | dwRig_getSensorParameterUpdatedPath (char8_t const **const sensorParameter, uint32_t const sensorId, dwConstRigHandle_t const obj) |
| Gets the parameter string for a sensor with any path described by file=,video=,timestamp= property modified to be in respect to the current rig file's directory (if initializing a rig from file), or in respect to the relativeBasePath (when initializing a rig from string). More... | |
| DW_API_PUBLIC dwStatus | dwRig_getSensorPropertyByName (char8_t const **const propertyValue, char8_t const *const propertyName, uint32_t const sensorId, dwConstRigHandle_t const obj) |
| Returns property stored inside of a sensor. More... | |
| DW_API_PUBLIC dwStatus | dwRig_getSensorProtocol (char8_t const **const sensorProtocol, uint32_t const sensorId, dwConstRigHandle_t const obj) |
| Gets the protocol string of a sensor. More... | |
| DW_API_PUBLIC dwStatus | dwRig_getSensorToRigTransformation (dwTransformation3f *const transformation, uint32_t const sensorId, dwConstRigHandle_t const obj) |
| Gets the sensor to rig transformation for a sensor. More... | |
| DW_API_PUBLIC dwStatus | dwRig_getSensorToSensorTransformation (dwTransformation3f *const transformation, uint32_t const sensorIdFrom, uint32_t const sensorIdTo, dwConstRigHandle_t const obj) |
| Gets the sensor to sensor transformation for a pair of sensors. More... | |
| DW_API_PUBLIC dwStatus | dwRig_getSensorType (dwSensorType *const sensorType, uint32_t const sensorId, dwConstRigHandle_t const obj) |
| Returns the type of sensor based upon the sensorID sent into the method. More... | |
| DW_API_PUBLIC dwStatus | dwRig_getVehicle (dwVehicle const **const vehicle, dwConstRigHandle_t const obj) |
| DEPRECATED: Gets the properties of a passenger car vehicle. More... | |
| DW_API_PUBLIC dwStatus | dwRig_getVehicleIOConfigCount (uint32_t *const vioConfigCount, dwConstRigHandle_t const obj) |
| Gets the number of vehicle IO sensors. More... | |
| DW_API_PUBLIC dwStatus | dwRig_initializeFromFile (dwRigHandle_t *const obj, dwContextHandle_t const ctx, char8_t const *const configurationFile) |
| Initializes the Rig Configuration module from a file. More... | |
| DW_API_PUBLIC dwStatus | dwRig_initializeFromString (dwRigHandle_t *const obj, dwContextHandle_t const ctx, char8_t const *const configurationString, char8_t const *const relativeBasePath) |
| Initializes the Rig Configuration module from a string. More... | |
| DW_API_PUBLIC dwStatus | dwRig_release (dwRigHandle_t const obj) |
| Releases the Rig Configuration module. More... | |
| DW_API_PUBLIC dwStatus | dwRig_reset (dwRigHandle_t const obj) |
| Resets the Rig Configuration module. More... | |
| DW_API_PUBLIC dwStatus | dwRig_serializeToFile (char8_t const *const configurationFile, dwConstRigHandle_t const obj) |
| This method serializes the rig-configuration object to a human-readable rig-configuration file. More... | |
| DW_API_PUBLIC dwStatus | dwRig_setFThetaCameraConfig (dwFThetaCameraConfig const *const config, uint32_t const sensorId, dwRigHandle_t const obj) |
| Sets the parameters of the FTheta camera model. More... | |
| DW_API_PUBLIC dwStatus | dwRig_setFThetaCameraConfigNew (dwFThetaCameraConfigNew const *const config, uint32_t const sensorId, dwRigHandle_t const obj) |
| Sets the parameters of the FTheta camera model. More... | |
| DW_API_PUBLIC dwStatus | dwRig_setGenericVehicle (dwGenericVehicle const *const vehicle, dwRigHandle_t const obj) |
| Sets the properties of a generic vehicle (car or truck). More... | |
| DW_API_PUBLIC dwStatus | dwRig_setOCamCameraConfig (dwOCamCameraConfig const *const config, uint32_t const sensorId, dwRigHandle_t const obj) |
| Sets the parameters of the OCam camera model. More... | |
| DW_API_PUBLIC dwStatus | dwRig_setPinholeCameraConfig (dwPinholeCameraConfig const *const config, uint32_t const sensorId, dwRigHandle_t const obj) |
| Sets the parameters of the pinhole camera model. More... | |
| DW_API_PUBLIC dwStatus | dwRig_setSensorParameter (char8_t const *const sensorParameter, uint32_t const sensorId, dwRigHandle_t const obj) |
| Sets the parameter string for a sensor. More... | |
| DW_API_PUBLIC dwStatus | dwRig_setSensorToRigTransformation (dwTransformation3f const *const transformation, uint32_t const sensorId, dwRigHandle_t const obj) |
| Sets the sensor to rig transformation for a sensor. More... | |
| DW_API_PUBLIC dwStatus | dwRig_setVehicle (dwVehicle const *const vehicle, dwRigHandle_t const obj) |
| DEPRECATED: Sets the properties of a passenger car vehicle. More... | |