Detailed Description

NVIDIA DriveWorks API: Lidar

Description: This file defines the Lidar sensor.

Definition in file Lidar.h.

Data Structures
struct	dwLidarDecodedPacket
	Defines the structure for a decoded lidar packet. More...

struct	dwLidarDecodedReturn
	Defines the return structure for an extended decoded lidar packet. More...

struct	dwLidarPointRTHI
	Holds a Lidar point cloud RTHI and the associated intensity. More...

struct	dwLidarPointXYZI
	Holds a Lidar point cloud XYZ and the associated intensity. More...

struct	dwLidarProperties
	Defines the properties of the lidar. More...

Macros
#define	DW_SENSORS_LIDAR_MAX_RETURNS 10
	Maximum number of distinct lidar returns a point cloud can contain. More...

#define	DW_SENSORS_LIDAR_MAX_ROWS 256

Typedefs
typedef struct _dwLidarDecodedSSI	dwLidarDecodedSSI
	Not available as of current release. Will be added in future release. More...

Enumerations
enum	dwLidarAuxDataType { DW_LIDAR_AUX_DATA_TYPE_SNR = 0 , DW_LIDAR_AUX_DATA_TYPE_PULSEWIDTH_PS = 1 , DW_LIDAR_AUX_DATA_TYPE_TIME = 2 , DW_LIDAR_AUX_DATA_TYPE_V_MPS = 3 , DW_LIDAR_AUX_DATA_TYPE_EXISTENCEPROB = 4 , DW_LIDAR_AUX_DATA_TYPE_CROSSTALKPROB = 5 , DW_LIDAR_AUX_DATA_TYPE_NOISELEVEL = 6 , DW_LIDAR_AUX_DATA_TYPE_ZONEID = 7 , DW_LIDAR_AUX_DATA_TYPE_DETECTORID = 8 , DW_LIDAR_AUX_DATA_TYPE_LINEID = 9 , DW_LIDAR_AUX_DATA_TYPE_DATAQUALITY = 10 , DW_LIDAR_AUX_DATA_TYPE_SCANCHECKPOINT = 11 , DW_LIDAR_AUX_DATA_TYPE_BLOCKAGEFLAG = 12 , DW_LIDAR_AUX_DATA_TYPE_SENSORID = 13 , DW_LIDAR_AUX_DATA_TYPE_AZIMUTH = 14 , DW_LIDAR_AUX_DATA_TYPE_ELEVATION = 15 , DW_LIDAR_AUX_DATA_TYPE_DISTANCE = 16 , DW_LIDAR_AUX_DATA_TYPE_ROI = 17 , DW_LIDAR_AUX_DATA_TYPE_VALIDITY = 18 , DW_LIDAR_AUX_DATA_TYPE_INVALIDITYFLAG = 19 , DW_LIDAR_AUX_DATA_TYPE_COUNT = 20 , DW_LIDAR_AUX_DATA_TYPE_FORCE32 = 0x7FFFFFFF }
	An enum for every data element we could possibly return. More...

enum	dwLidarInvalidityFlag { DW_LIDAR_INVALIDITY_NONE = 0 , DW_LIDAR_INVALIDITY_DW = 1 << 0 , DW_LIDAR_INVALIDITY_VEND = 1 << 1 , DW_LIDAR_INVALIDITY_BLOCKAGE = 1 << 2 , DW_LIDAR_INVALIDITY_INVALID }
	An enum for specifying invalidity flags. More...

enum	dwLidarReturnType { DW_LIDAR_RETURN_TYPE_ANY = 0 , DW_LIDAR_RETURN_TYPE_FIRST = 1 << 0 , DW_LIDAR_RETURN_TYPE_LAST = 1 << 1 , DW_LIDAR_RETURN_TYPE_STRONGEST = 1 << 2 , DW_LIDAR_RETURN_TYPE_ABS_STRONGEST = 1 << 3 , DW_LIDAR_RETURN_TYPE_1 = 1 << 4 , DW_LIDAR_RETURN_TYPE_2 = 1 << 5 , DW_LIDAR_RETURN_TYPE_3 = 1 << 6 , DW_LIDAR_RETURN_TYPE_4 = 1 << 7 , DW_LIDAR_RETURN_TYPE_5 = 1 << 8 , DW_LIDAR_RETURN_TYPE_6 = 1 << 9 }
	Enum to indicate a single return type. More...

Functions
DW_API_PUBLIC dwStatus	dwSensorLidar_disableDecoding (dwSensorHandle_t const sensor)
	Disable the decoding of the Lidar packets, which frees additional CPU load. More...

DW_API_PUBLIC dwStatus	dwSensorLidar_enableDecoding (dwSensorHandle_t const sensor)
	Enables the decoding of the Lidar packets, which incurs an additional CPU load. More...

DW_API_PUBLIC dwStatus	dwSensorLidar_getAuxElementSize (uint32_t *const sizeBytes, dwLidarAuxDataType const auxType)
	Returns size of auxiliary data element in bytes. More...

DW_API_PUBLIC dwStatus	dwSensorLidar_getProperties (dwLidarProperties *const lidarProperties, dwSensorHandle_t const sensor)
	Gets information about the Lidar sensor. More...

DW_API_PUBLIC dwStatus	dwSensorLidar_isDecodingEnabled (bool *const enable, dwSensorHandle_t const sensor)
	Retrieves the state of packet decoding. More...

DW_API_PUBLIC dwStatus	dwSensorLidar_processRawData (dwLidarDecodedPacket const *const data, uint8_t const const rawData, size_t const size, dwSensorHandle_t const sensor)
	Decodes RAW data previously read and returns a pointer to it. More...

DW_API_PUBLIC dwStatus	dwSensorLidar_readPacket (dwLidarDecodedPacket const **const data, dwTime_t const timeoutUs, dwSensorHandle_t const sensor)
	Reads one scan packet. More...

DW_API_PUBLIC dwStatus	dwSensorLidar_returnPacket (dwLidarDecodedPacket const *const data, dwSensorHandle_t const sensor)
	Returns the data read to the internal pool. More...

DW_API_PUBLIC dwStatus	dwSensorLidar_sendMessage (uint32_t const cmd, uint8_t const *const data, size_t const size, dwSensorHandle_t const sensor)
	Sends a message to Lidar sensor. More...

Detailed Description

Data Structures

Macros

Typedefs

Enumerations

Functions