Detailed Description

Defines point cloud assembling module.

Defines point cloud processing datatypes and memory handling functions.

Defines lidar point cloud structure.

Data Structures
struct	dwLidarMotionCompensationInfo
	Declares motion compensation traits of the point cloud. More...

struct	dwLidarPointCloud
	Defines a LiDAR-specific point cloud data structure. More...

struct	dwLidarPointCloudMapping
	Struct indicating layer and aux channel mapping. More...

struct	dwPointCloud
	Defines point cloud data structure. More...

struct	dwPointCloudAssemblerParams
	Initialization parameters. 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_LIDAR_POINT_CLOUD_USER_DATA_SIZE 8
	Number of elements in user buffer. More...

#define	DW_POINT_CLOUD_MAX_AUX_CHANNELS 16U

#define	DW_POINT_CLOUD_MAX_LAYERS 16U

Typedefs
typedef struct dwPointCloudAssemblerObject const *	dwPointCloudAssemblerConstHandle_t

typedef struct dwPointCloudAssemblerObject *	dwPointCloudAssemblerHandle_t

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

enum	dwPointCloudReferenceFrame { DW_POINTCLOUD_REFERENCE_FRAME_SENSOR = 0 , DW_POINTCLOUD_REFERENCE_FRAME_RIG = 1 , DW_POINTCLOUD_REFERENCE_FRAME_CUSTOM = 2 }
	Defines point cloud coordinate reference frame. More...

Functions
DW_API_PUBLIC dwStatus	dwLidarPointCloud_create (dwLidarPointCloud lidarPointCloud, dwPointCloudFormat const format, dwMemoryType const memoryType, uint32_t const maxPointsPerReturn, dwLidarPointCloudMapping const mapping)
	Create lidar specific point cloud. More...

DW_API_PUBLIC dwStatus	dwLidarPointCloud_destroy (dwLidarPointCloud *lidarPointCloud)
	Destroy lidar specific point cloud. More...

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...

DW_API_PUBLIC dwStatus	dwPointCloudAssembler_addLidarPacket (dwLidarDecodedPacket const *const packet, dwPointCloudAssemblerHandle_t const obj)
	Push lidar packet to point cloud assembler. More...

DW_API_PUBLIC dwStatus	dwPointCloudAssembler_bindLidarPointCloud (dwLidarPointCloud *const pointCloud, dwPointCloudAssemblerHandle_t const obj)
	Bind output lidar specific point cloud. More...

DW_API_PUBLIC dwStatus	dwPointCloudAssembler_bindOutput (dwPointCloud *const pointCloud, dwPointCloudAssemblerHandle_t const obj)
	Bind output point cloud. More...

DW_API_PUBLIC dwStatus	dwPointCloudAssembler_getCUDAStream (cudaStream_t *const stream, dwPointCloudAssemblerConstHandle_t const obj)
	Get CUDA stream of point cloud assembler. More...

DW_API_PUBLIC dwStatus	dwPointCloudAssembler_getDefaultParams (dwPointCloudAssemblerParams const params, dwLidarProperties const const lidarProperties)
	Get default initialization parameters for specified lidar device. More...

DW_API_PUBLIC dwStatus	dwPointCloudAssembler_initialize (dwPointCloudAssemblerHandle_t const obj, dwPointCloudAssemblerParams const const params, dwLidarProperties const *const lidarProperties, dwContextHandle_t const ctx)
	Initialize point cloud assembler module. More...

DW_API_PUBLIC dwStatus	dwPointCloudAssembler_isReady (bool *const isReady, dwPointCloudAssemblerConstHandle_t const obj)
	Indicate that lidar frame has been accumulated. More...

DW_API_PUBLIC dwStatus	dwPointCloudAssembler_process (dwPointCloudAssemblerHandle_t const obj)
	Perform processing of accumulated data. More...

DW_API_PUBLIC dwStatus	dwPointCloudAssembler_release (dwPointCloudAssemblerHandle_t const obj)
	Release point cloud assembler. More...

DW_API_PUBLIC dwStatus	dwPointCloudAssembler_reset (dwPointCloudAssemblerHandle_t const obj)
	Reset point cloud assembler. More...

DW_API_PUBLIC dwStatus	dwPointCloudAssembler_setCUDAStream (cudaStream_t const stream, dwPointCloudAssemblerHandle_t const obj)
	Set CUDA stream of point cloud assembler. More...

Data Structure Documentation

◆ dwLidarMotionCompensationInfo

struct dwLidarMotionCompensationInfo

Data Fields
bool	compensated	True if this pointcloud has been motion compensated.
dwTime_t	compensationTimestamp	Motion compensation reference timestamp.

◆ dwLidarPointCloud

struct dwLidarPointCloud

Data Fields
dwPointCloudReferenceFrame	coordinateFrame	Coordinate reference frame for the data in this pointcloud.
dwLidarPointCloudMapping	mapping	Mapping of returns and aux channels.
dwLidarMotionCompensationInfo	motionCompensation	Motion compensation information.
dwPointCloud	pointCloud	Wrapped point cloud.
uint32_t	userData[DW_LIDAR_POINT_CLOUD_USER_DATA_SIZE]	User defined data.

◆ dwLidarPointCloudMapping

struct dwLidarPointCloudMapping

Data Fields
dwLidarAuxDataType	auxType[DW_POINT_CLOUD_MAX_AUX_CHANNELS]	Map aux channel from SAL to aux channel of a point cloud.
dwLidarReturnType	layerType[DW_POINT_CLOUD_MAX_LAYERS]	Map a return type to a layer, i.e. put into layer i a return type from SAL indicated by layerType[i]
uint32_t	numAuxChannels
uint32_t	numLayers	Number of layers.

◆ 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.

◆ dwPointCloudAssemblerParams

struct dwPointCloudAssemblerParams

Data Fields
bool	enableCuda	If set to true, assembling to GPU memory.
dwLidarPointCloudMapping	mapping	Layers and aux channels mapping.

◆ 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_LIDAR_POINT_CLOUD_USER_DATA_SIZE

#define DW_LIDAR_POINT_CLOUD_USER_DATA_SIZE 8

Number of elements in user buffer.

Definition at line 92 of file LidarPointCloud.h.

◆ 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.

Typedef Documentation

◆ dwPointCloudAssemblerConstHandle_t

typedef struct dwPointCloudAssemblerObject const* dwPointCloudAssemblerConstHandle_t

Definition at line 56 of file PointCloudAssembler.h.

◆ dwPointCloudAssemblerHandle_t

typedef struct dwPointCloudAssemblerObject* dwPointCloudAssemblerHandle_t

Definition at line 55 of file PointCloudAssembler.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.

◆ dwPointCloudReferenceFrame

enum dwPointCloudReferenceFrame

Defines point cloud coordinate reference frame.

Enumerator
DW_POINTCLOUD_REFERENCE_FRAME_SENSOR	Coordinate frame with the sensor at the origin.
DW_POINTCLOUD_REFERENCE_FRAME_RIG	Coordinate frame with the ego vehicle at the origin.
DW_POINTCLOUD_REFERENCE_FRAME_CUSTOM	Custom coordinate reference frame.

Definition at line 58 of file LidarPointCloud.h.

Function Documentation

◆ dwLidarPointCloud_create()

DW_API_PUBLIC dwStatus dwLidarPointCloud_create	(	dwLidarPointCloud *	lidarPointCloud,
		dwPointCloudFormat const	format,
		dwMemoryType const	memoryType,
		uint32_t const	maxPointsPerReturn,
		dwLidarPointCloudMapping const *	mapping
	)

Create lidar specific point cloud.

Parameters

[out]	lidarPointCloud	Point cloud to be created
[in]	format	Point cloud format XYZI or RTHI
[in]	memoryType	Point cloud memory type, CUDA, CPU or PINNED
[in]	maxPointsPerReturn	Maximum number of points in single lidar return
[in]	mapping	Return and aux data mapping

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT If provided pointer to point cloud is null

◆ dwLidarPointCloud_destroy()

DW_API_PUBLIC dwStatus dwLidarPointCloud_destroy ( dwLidarPointCloud * lidarPointCloud )

Destroy lidar specific point cloud.

Parameters

[in] lidarPointCloud A pointer to point cloud

Note: The call releases all the memory associated with point cloud.

Returns: DW_SUCCESS
DW_INVALID_HANDLE

◆ 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:

The member variable capacity to indicate the memory allocation size
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

◆ dwPointCloudAssembler_addLidarPacket()

DW_API_PUBLIC dwStatus dwPointCloudAssembler_addLidarPacket	(	dwLidarDecodedPacket const *const	packet,
		dwPointCloudAssemblerHandle_t const	obj
	)

Push lidar packet to point cloud assembler.

Parameters

[in]	packet	Pointer to decoded lidar packet
[in]	obj	Module handle

Returns: DW_SUCCESS - if successfully added packet
DW_INVALID_ARGUMENT - the values included in decoded lidar packet do not match the ones in the lidar properties

◆ dwPointCloudAssembler_bindLidarPointCloud()

DW_API_PUBLIC dwStatus dwPointCloudAssembler_bindLidarPointCloud	(	dwLidarPointCloud *const	pointCloud,
		dwPointCloudAssemblerHandle_t const	obj
	)

Bind output lidar specific point cloud.

Parameters

[out]	pointCloud	Lidar point cloud
[in]	obj	Module handle

Returns: DW_INVALID_HANDLE - if given handle is invalid
DW_INVALID_ARGUMENT - if trying to bind GPU point cloud when cuda is not is not enabled at initialization
DW_SUCCESS

◆ dwPointCloudAssembler_bindOutput()

DW_API_PUBLIC dwStatus dwPointCloudAssembler_bindOutput	(	dwPointCloud *const	pointCloud,
		dwPointCloudAssemblerHandle_t const	obj
	)

Bind output point cloud.

Parameters

[out]	pointCloud	Lidar point cloud
[in]	obj	Module handle

Returns: DW_INVALID_HANDLE - if given handle is invalid
DW_INVALID_ARGUMENT - if trying to bind GPU point cloud when cuda is not is not enabled at initialization
DW_SUCCESS

Note: Output points are either XYZI or RTHI points depending on the format of bound point cloud.

◆ dwPointCloudAssembler_getCUDAStream()

DW_API_PUBLIC dwStatus dwPointCloudAssembler_getCUDAStream	(	cudaStream_t *const	stream,
		dwPointCloudAssemblerConstHandle_t const	obj
	)

Get CUDA stream of point cloud assembler.

Parameters

[out]	stream	Pointer to CUDA stream handle
[in]	obj	Module handle

Returns: DW_INVALID_HANDLE - if given handle is invalid
DW_CALL_NOT_ALLOWED - point cloud assembler is initialized to process host memory
DW_SUCCESS

◆ dwPointCloudAssembler_getDefaultParams()

DW_API_PUBLIC dwStatus dwPointCloudAssembler_getDefaultParams	(	dwPointCloudAssemblerParams *const	params,
		dwLidarProperties const *const	lidarProperties
	)

Get default initialization parameters for specified lidar device.

Parameters

[out]	params	Initialization parameters
[in]	lidarProperties	Lidar properties

Returns: DW_INVALID_ARGUMENT - if one of the given pointers is NULL
DW_SUCCESS

◆ dwPointCloudAssembler_initialize()

DW_API_PUBLIC dwStatus dwPointCloudAssembler_initialize	(	dwPointCloudAssemblerHandle_t *const	obj,
		dwPointCloudAssemblerParams const *const	params,
		dwLidarProperties const *const	lidarProperties,
		dwContextHandle_t const	ctx
	)

Initialize point cloud assembler module.

Parameters

[out]	obj	Pointer to point cloud assembler handle
[in]	params	Initialization parameters
[in]	lidarProperties	Input lidar properties
[in]	ctx	Handle to the context

Returns: DW_INVALID_ARGUMENT - if one of the given pointers is NULL
DW_SUCCESS

◆ dwPointCloudAssembler_isReady()

DW_API_PUBLIC dwStatus dwPointCloudAssembler_isReady	(	bool *const	isReady,
		dwPointCloudAssemblerConstHandle_t const	obj
	)

Indicate that lidar frame has been accumulated.

Parameters

[out]	isReady	If `true` frame has been accumulated
[in]	obj	Module handle

Returns: DW_INVALID_HANDLE - if given handle is invalid
DW_INVALID_ARGUMENT - if provided pointer to a packet is nullptr
DW_SUCCESS

◆ dwPointCloudAssembler_process()

DW_API_PUBLIC dwStatus dwPointCloudAssembler_process ( dwPointCloudAssemblerHandle_t const obj )

Perform processing of accumulated data.

Parameters

[in] obj Module handle

Returns: DW_INVALID_HANDLE - if given handle is invalid
DW_NOT_READY - if accumulation is not complete, i.e. dwPointCloudAssembler_isReady returns false DW_CALL_NOT_ALLOWED - if output is not bound DW_SUCCESS

Note: The function return the most recent full spin in output point cloud.

Example:

Arrived packets | First process call | Second process call 0,1,2*,3,4* | {2,3} | DW_NOT_READY 0,1,2*,3,4*,5 | {2,3} | DW_NOT_READY 0,1,2*,3,4*,5,6* | {4,5} | DW_NOT_READY

where numbers denote packet ids and (*) denotes if the packet has zero crossing flag set to true.

◆ dwPointCloudAssembler_release()

DW_API_PUBLIC dwStatus dwPointCloudAssembler_release ( dwPointCloudAssemblerHandle_t const obj )

Release point cloud assembler.

Parameters

[in] obj Module handle

Returns: DW_INVALID_HANDLE - if given handle is invalid
DW_SUCCESS

◆ dwPointCloudAssembler_reset()

DW_API_PUBLIC dwStatus dwPointCloudAssembler_reset ( dwPointCloudAssemblerHandle_t const obj )

Reset point cloud assembler.

Parameters

[in] obj Module handle

Returns: DW_INVALID_HANDLE - if given handle is invalid
DW_SUCCESS

◆ dwPointCloudAssembler_setCUDAStream()

DW_API_PUBLIC dwStatus dwPointCloudAssembler_setCUDAStream	(	cudaStream_t const	stream,
		dwPointCloudAssemblerHandle_t const	obj
	)

Set CUDA stream of point cloud assembler.

Parameters

[in]	stream	Handle to CUDA stream
[in]	obj	Module handle

Returns: DW_INVALID_HANDLE - if given handle is invalid
DW_CALL_NOT_ALLOWED - point cloud assembler is initialized to process host memory
DW_SUCCESS

Detailed Description

Data Structures

Modules

Macros

Typedefs

Enumerations

Functions

Data Structure Documentation

◆ dwLidarMotionCompensationInfo

◆ dwLidarPointCloud

◆ dwLidarPointCloudMapping

◆ dwPointCloud

◆ dwPointCloudAssemblerParams

◆ dwPointCloudAuxChannel

◆ dwPointCloudLayer

Macro Definition Documentation

◆ DW_LIDAR_POINT_CLOUD_USER_DATA_SIZE

◆ DW_POINT_CLOUD_MAX_AUX_CHANNELS

◆ DW_POINT_CLOUD_MAX_LAYERS

Typedef Documentation

◆ dwPointCloudAssemblerConstHandle_t

◆ dwPointCloudAssemblerHandle_t

Enumeration Type Documentation

◆ dwPointCloudFormat

◆ dwPointCloudReferenceFrame

Function Documentation

◆ dwLidarPointCloud_create()

◆ dwLidarPointCloud_destroy()

◆ dwPointCloud_create()

◆ dwPointCloud_createBuffer()

◆ dwPointCloud_destroy()

◆ dwPointCloud_destroyBuffer()

◆ dwPointCloudAssembler_addLidarPacket()

◆ dwPointCloudAssembler_bindLidarPointCloud()

◆ dwPointCloudAssembler_bindOutput()

◆ dwPointCloudAssembler_getCUDAStream()

◆ dwPointCloudAssembler_getDefaultParams()

◆ dwPointCloudAssembler_initialize()

◆ dwPointCloudAssembler_isReady()

◆ dwPointCloudAssembler_process()

◆ dwPointCloudAssembler_release()

◆ dwPointCloudAssembler_reset()

◆ dwPointCloudAssembler_setCUDAStream()