NVIDIA DriveWorks API: Point Cloud ICP
Description: This file defines API of Point Cloud ICP module.
Definition in file PointCloudICP.h.
Go to the source code of this file.
Data Structures | |
| struct | dwPointCloudICPParams |
| Defines point cloud icp parameter. More... | |
| struct | dwPointCloudICPResultStats |
| Resulting statistics about the latest ICP run. More... | |
Typedefs | |
| typedef bool(* | dwPointCloudICPConvergenceCheck) (const dwTransformation3f *prevSrc2Tgt, const dwTransformation3f *newSrc2Tgt, void *userData) |
| Callback function to be executed by ICP module allowing user to overwrite default convergence criteria method. More... | |
| typedef struct dwPointCloudICPObject * | dwPointCloudICPHandle_t |
Enumerations | |
| enum | dwPointCloudICPType { DW_POINT_CLOUD_ICP_TYPE_DEPTH_MAP } |
| Defines a type of the Iterative Closest Point (ICP) algorithm. More... | |
Functions | |
| DW_API_PUBLIC dwStatus | dwPointCloudICP_bindInput (const dwPointCloud *sourcePCD, const dwPointCloud *targetPCD, const dwTransformation3f *sourceToTarget, dwPointCloudICPHandle_t obj) |
| Binds input buffers of a source and a target point clouds as well as a buffer with an initial transformation. More... | |
| DW_API_PUBLIC dwStatus | dwPointCloudICP_bindOutput (dwTransformation3f *pose, dwPointCloudICPHandle_t obj) |
| Binds an output buffer to the resulting transformation between a source and a target point clouds. More... | |
| DW_API_PUBLIC dwStatus | dwPointCloudICP_getCUDAStream (cudaStream_t *stream, dwPointCloudICPHandle_t obj) |
| Gets CUDA stream of point cloud icp. More... | |
| DW_API_PUBLIC dwStatus | dwPointCloudICP_getDefaultParams (dwPointCloudICPParams *params) |
| Gets default values of dwPointCloudICPParams object. More... | |
| DW_API_PUBLIC dwStatus | dwPointCloudICP_getLastResultStats (dwPointCloudICPResultStats *resultStats, dwPointCloudICPHandle_t obj) |
| Get statistics about latest point cloud ICP run, returns the costs for last pose (see a description of 'dwPointCloudICPResultStats' for details) More... | |
| DW_API_PUBLIC dwStatus | dwPointCloudICP_getMaximumDepthMapSize (uint32_t *maxDepthMapSize) |
| Get the maximum allowed size of the depth map in number of points supported by the ICP implementation. More... | |
| DW_API_PUBLIC dwStatus | dwPointCloudICP_initialize (dwPointCloudICPHandle_t *obj, const dwPointCloudICPParams *params, dwContextHandle_t ctx) |
| Initializes point cloud icp. More... | |
| DW_API_PUBLIC dwStatus | dwPointCloudICP_process (dwPointCloudICPHandle_t obj) |
| Estimates the transformation aligns two PointClouds. More... | |
| DW_API_PUBLIC dwStatus | dwPointCloudICP_release (dwPointCloudICPHandle_t obj) |
| Releases a handle of a point cloud icp created using 'dwPointCloudICP_initialize'. More... | |
| DW_API_PUBLIC dwStatus | dwPointCloudICP_reset (dwPointCloudICPHandle_t obj) |
| Resets pointers to the source, target point clouds and an output pose to a null pointer value. More... | |
| DW_API_PUBLIC dwStatus | dwPointCloudICP_setConvergenceCriteriaCallback (dwPointCloudICPConvergenceCheck callback, void *userData, dwPointCloudICPHandle_t obj) |
| Allows to set a user-defined callback to be executed for ICP convergence test. More... | |
| DW_API_PUBLIC dwStatus | dwPointCloudICP_setConvergenceTolerance (float32_t angleTol, float32_t distanceTol, dwPointCloudICPHandle_t obj) |
| Set tolerances used by the default ICP convergence criteria method. More... | |
| DW_API_PUBLIC dwStatus | dwPointCloudICP_setCUDAStream (cudaStream_t const stream, dwPointCloudICPHandle_t obj) |
| Sets CUDA stream of point cloud icp. More... | |
| DW_API_PUBLIC dwStatus | dwPointCloudICP_setMaxIterations (uint16_t maxIterations, dwPointCloudICPHandle_t obj) |
| Set maximum number of iterations which need to be executed. More... | |