Compute Graph Framework SDK Reference  5.12
dwLidarPointCloudStitcherNode.hpp
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30
31#ifndef DWFRAMEWORK_DWNODES_DWLIDARPOINTCLOUDSTITCHERNODE_DWLIDARPOINTCLOUDSTITCHERNODE_HPP_
32#define DWFRAMEWORK_DWNODES_DWLIDARPOINTCLOUDSTITCHERNODE_DWLIDARPOINTCLOUDSTITCHERNODE_HPP_
33
34#include <dw/pointcloudprocessing/stitcher/PointCloudStitcher.h>
35#include <dwcgf/node/Node.hpp>
39#include <dwcgf/port/Port.hpp>
41#include <dwframework/dwnodes/common/PointCloudProcessingCommonTypes.hpp>
42#include <dwframework/dwnodes/common/channelpackets/EgomotionState.hpp>
43#include <dwframework/dwnodes/common/channelpackets/PointCloud.hpp>
44#include <dwframework/dwnodes/common/channelpackets/LidarPointCloud.hpp>
45#include <dwframework/dwnodes/common/channelpackets/SensorCommonTypes.hpp>
46
47namespace dw
48{
49namespace framework
50{
51
53{
54 bool enabledLidar[MAX_LIDAR_STITCHER_PORT_NUM];
55 dwLidarProperties lidarProperties[MAX_LIDAR_STITCHER_PORT_NUM];
56 dwTransformation3f lidar2RigDefault[MAX_LIDAR_STITCHER_PORT_NUM];
57 dwMemoryType memoryType;
58 dwPointCloudFormat outputFormat;
59
60 cudaStream_t stream;
61};
62
63template <>
64struct EnumDescription<dwPointCloudFormat>
65{
66 static constexpr auto get()
67 {
68 return describeEnumeratorCollection<dwPointCloudFormat>(
69 DW_DESCRIBE_C_ENUMERATOR(DW_POINTCLOUD_FORMAT_XYZI),
70 DW_DESCRIBE_C_ENUMERATOR(DW_POINTCLOUD_FORMAT_RTHI));
71 }
72};
73
74template <>
75struct EnumDescription<dwMemoryType>
76{
77 static constexpr auto get()
78 {
79 return describeEnumeratorCollection<dwMemoryType>(
80 DW_DESCRIBE_C_ENUMERATOR(DW_MEMORY_TYPE_CUDA),
81 DW_DESCRIBE_C_ENUMERATOR(DW_MEMORY_TYPE_CPU),
82 DW_DESCRIBE_C_ENUMERATOR(DW_MEMORY_TYPE_PINNED));
83 }
84};
85
90{
91public:
92 // TODO(csketch): FP -- This is used when the logger is called and not just at assignment.
93 // coverity[autosar_cpp14_a0_1_1_violation] FP: nvbugs/2980283
94 // coverity[autosar_cpp14_m0_1_4_violation] FP: nvbugs/2980283
95 static constexpr char8_t LOG_TAG[]{"dwLidarPointCloudStitcherNode"};
96
97 // coverity[autosar_cpp14_a7_1_5_violation] RFD Accepted: TID-1984
98 static constexpr auto describeInputPorts()
99 {
100 using namespace dw::framework;
101 // TODO(csketch): RFD -- user defined literal being interpreted as c style cast.
102 // coverity[autosar_cpp14_a5_2_2_violation] RFD Pending: TID-1983
104 DW_DESCRIBE_PORT_ARRAY(dwLidarPointCloud, MAX_LIDAR_STITCHER_PORT_NUM, "LIDAR_POINT_CLOUD_COMPENSATED"_sv),
105 DW_DESCRIBE_PORT_ARRAY(dwSensorNodeProperties, MAX_LIDAR_STITCHER_PORT_NUM, "LIDAR_EXTRINSICS"_sv),
106 DW_DESCRIBE_PORT(dwEgomotionStateHandle_t, "EGOMOTION_STATE"_sv));
107 };
108
109 // coverity[autosar_cpp14_a7_1_5_violation] RFD Accepted: TID-1984
110 static constexpr auto describeOutputPorts()
111 {
112 using namespace dw::framework;
113 // TODO(csketch): RFD -- user defined literal being interpreted as c style cast.
114 // coverity[autosar_cpp14_a5_2_2_violation] RFD Pending: TID-1983
116 DW_DESCRIBE_PORT(dwLidarPointCloud, "LIDAR_POINT_CLOUD_COMPENSATED_AGGREGATE"_sv, PortBinding::REQUIRED),
117 DW_DESCRIBE_PORT(dwTime_t, "TARGET_TIMESTAMP"_sv, PortBinding::OPTIONAL));
118 };
119
120 // coverity[autosar_cpp14_a7_1_5_violation] RFD Accepted: TID-1984
121 static constexpr auto describePasses()
122 {
124 describePass(StringView{"SETUP"}, DW_PROCESSOR_TYPE_CPU),
125 describePass(StringView{"PROCESS_GPU"}, DW_PROCESSOR_TYPE_GPU),
126 describePass(StringView{"PROCESS_CPU"}, DW_PROCESSOR_TYPE_CPU),
127 describePass(StringView{"TEARDOWN"}, DW_PROCESSOR_TYPE_CPU));
128 };
129
130 static std::unique_ptr<dwLidarPointCloudStitcherNode> create(ParameterProvider& provider);
131
132 // coverity[autosar_cpp14_a7_1_5_violation] RFD Accepted: TID-1984
133 static constexpr auto describeParameters()
134 {
135 // TODO(csketch): RFD -- user defined literal being interpreted as c style cast.
136 // coverity[autosar_cpp14_a5_2_2_violation] RFD Pending: TID-1983
137 return describeConstructorArguments<dwLidarPointCloudStitcherNodeParams, dwContextHandle_t>(
140 bool,
142 MAX_LIDAR_STITCHER_PORT_NUM,
145 dwLidarProperties,
146 MAX_LIDAR_STITCHER_PORT_NUM,
149 dwTransformation3f,
151 MAX_LIDAR_STITCHER_PORT_NUM,
154 dwMemoryType,
155 "memoryType"_sv,
158 dwPointCloudFormat,
159 "outputFormat"_sv,
162 cudaStream_t,
163 "stream"_sv,
167 dwContextHandle_t)));
168 }
169
171 dwContextHandle_t ctx);
172};
173}
174}
175
176#endif // DWFRAMEWORK_DWNODES_DWLIDARPOINTCLOUDSTITCHERNODE_DWLIDARPOINTCLOUDSTITCHERNODE_HPP_
#define DW_DESCRIBE_C_ENUMERATOR(NAME)
Syntactic sugar calling describeEnumerator().
#define DW_DESCRIBE_INDEX_PARAMETER(TYPE_NAME, args...)
#define DW_DESCRIBE_UNNAMED_PARAMETER(TYPE_NAME, args...)
#define DW_DESCRIBE_UNNAMED_ARRAY_PARAMETER_WITH_SEMANTIC(TYPE_NAME, SEMANTIC_TYPE_NAME, ARRAY_SIZE, args...)
#define DW_DESCRIBE_UNNAMED_ARRAY_PARAMETER(TYPE_NAME, ARRAY_SIZE, 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.
dwLidarPointCloudStitcherNode(const dwLidarPointCloudStitcherNodeParams &, dwContextHandle_t ctx)
static std::unique_ptr< dwLidarPointCloudStitcherNode > create(ParameterProvider &provider)
dwLidarProperties lidarProperties[MAX_LIDAR_STITCHER_PORT_NUM]
constexpr auto describeConstructorArgument(const Args &&... args) -> dw::core::Tuple< Args... >
dwTransformation3f lidar2RigDefault[MAX_LIDAR_STITCHER_PORT_NUM]
constexpr std::tuple< dw::core::StringView, dwProcessorType > describePass(dw::core::StringView const &&name, dwProcessorType processorType)
constexpr auto describePassCollection(const Args &&... args) -> std::tuple< Args... >
constexpr auto describePortCollection(Args &&... args) -> dw::core::Tuple< Args... >
Definition: Buffer.hpp:40