dwPointCloudAccumulatorNode.hpp

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#ifndef DWFRAMEWORK_DWNODES_POINTCLOUDPROCESSING_DWACCUMULATORNODE_DWPOINTCLOUDACCUMULATORNODE_HPP_
#define DWFRAMEWORK_DWNODES_POINTCLOUDPROCESSING_DWACCUMULATORNODE_DWPOINTCLOUDACCUMULATORNODE_HPP_
 
#include <dw/core/logger/Logger.hpp>
#include <dw/pointcloudprocessing/assembler/PointCloudAssembler.h>
#include <dw/pointcloudprocessing/motioncompensator/MotionCompensator.h>
#include <dwcgf/node/Node.hpp>
#include <dwcgf/parameter/ParameterDescriptor.hpp>
#include <dwcgf/parameter/SemanticParameterTypes.hpp>
#include <dwcgf/pass/PassDescriptor.hpp>
#include <dwcgf/port/PortDescriptor.hpp>
#include <dwframework/dwnodes/common/SensorCommonTypes.hpp>
#include <dwframework/dwnodes/common/channelpackets/EgomotionState.hpp>
#include <dwframework/dwnodes/common/channelpackets/PointCloud.hpp>
#include <dwframework/dwnodes/common/channelpackets/SensorCommonTypes.hpp>
 
namespace dw
{
namespace framework
{
 
struct dwAccumulatorNodeParams
{
    dwPointCloudAssemblerParams assmParams;
    dwMotionCompensatorParams compParams;
    bool enableEgomotionCompensation;
    dwLidarProperties lidarProperties;
    dwEgomotionParameters egomotionParams;
    bool throttlePipeline;
    bool enableCuda;
    cudaStream_t cudaStream;
};
 
class dwPointCloudAccumulatorNode : public ExceptionSafeProcessNode
{
public:
    static constexpr char LOG_TAG[] = "dwPointCloudAccumulatorNode";
 
    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));
    };
 
    static constexpr auto describePasses()
    {
        return describePassCollection(
            describePass("SETUP"_sv, DW_PROCESSOR_TYPE_CPU),
            describePass("PROCESS_ASSM_GPU_ASYNC"_sv, DW_PROCESSOR_TYPE_GPU),
            describePass("PROCESS_ASSM_CPU_SYNC"_sv, DW_PROCESSOR_TYPE_CPU),
            describePass("PROCESS_COMP_GPU_ASYNC"_sv, DW_PROCESSOR_TYPE_GPU),
            describePass("PROCESS_COMP_CPU_SYNC"_sv, DW_PROCESSOR_TYPE_CPU),
            describePass("TEARDOWN"_sv, DW_PROCESSOR_TYPE_CPU));
    };
 
    static constexpr auto describeParameters()
    {
        return describeConstructorArguments<dwAccumulatorNodeParams,
                                            dwContextHandle_t>(
            describeConstructorArgument(
                DW_DESCRIBE_PARAMETER(
                    bool,
                    "enableCuda"_sv,
                    &dwAccumulatorNodeParams::enableCuda),
                DW_DESCRIBE_PARAMETER(
                    dwMotionCompensatorInterpolationStrategy,
                    "interpolationStrategy"_sv,
                    &dwAccumulatorNodeParams::compParams, &dwMotionCompensatorParams::interpolationStrategy),
                DW_DESCRIBE_PARAMETER(
                    uint32_t,
                    "maxPointCloudSize"_sv,
                    &dwAccumulatorNodeParams::compParams, &dwMotionCompensatorParams::maxPointCloudSize),
                DW_DESCRIBE_PARAMETER(
                    uint32_t,
                    "motionModelResolution"_sv,
                    &dwAccumulatorNodeParams::compParams, &dwMotionCompensatorParams::motionModelResolution),
                DW_DESCRIBE_PARAMETER(
                    bool,
                    "outputInRigCoordinates"_sv,
                    &dwAccumulatorNodeParams::compParams, &dwMotionCompensatorParams::outputInRigCoordinates),
                DW_DESCRIBE_INDEX_PARAMETER_WITH_SEMANTIC(
                    dwTransformation3f,
                    semantic_parameter_types::LidarExtrinsics,
                    "sensorId"_sv,
                    &dwAccumulatorNodeParams::compParams, &dwMotionCompensatorParams::pointCloudToRig),
                DW_DESCRIBE_PARAMETER(
                    bool,
                    "enableEgomotionCompensation"_sv,
                    &dwAccumulatorNodeParams::enableEgomotionCompensation),
                DW_DESCRIBE_INDEX_PARAMETER(
                    dwLidarProperties,
                    "sensorId"_sv,
                    &dwAccumulatorNodeParams::lidarProperties),
                DW_DESCRIBE_UNNAMED_PARAMETER_WITH_SEMANTIC(
                    bool,
                    semantic_parameter_types::Virtual,
                    &dwAccumulatorNodeParams::throttlePipeline),
                DW_DESCRIBE_INDEX_PARAMETER(
                    cudaStream_t,
                    "streamIndex"_sv,
                    &dwAccumulatorNodeParams::cudaStream)),
            describeConstructorArgument(
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwContextHandle_t)));
    };
 
    static std::unique_ptr<dwPointCloudAccumulatorNode> create(ParameterProvider& provider);
 
    dwPointCloudAccumulatorNode(const dwAccumulatorNodeParams& paramsPointCloud,
                                const dwContextHandle_t ctx);
};
 
} // namespace framework
} // namespace dw
 
#endif // DWFRAMEWORK_DWNODES_POINTCLOUDPROCESSING_DWACCUMULATORNODE_DWPOINTCLOUDACCUMULATORNODE_HPP_