PointCloudStitcher.h

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#ifndef DW_POINTCLOUDPROCESSING_POINTCLOUDSTITCHER_H_
#define DW_POINTCLOUDPROCESSING_POINTCLOUDSTITCHER_H_
 
#include <dw/core/base/Types.h>
#include <dw/egomotion/base/Egomotion.h>
#include <dw/pointcloudprocessing/pointcloud/LidarPointCloud.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
#define DW_POINTCLOUD_STITCHER_MAX_POINT_CLOUDS DW_BIND_SLOT_MAX_COUNT
 
typedef struct dwPointCloudStitcherObject* dwPointCloudStitcherHandle_t;
 
DW_API_PUBLIC
dwStatus dwPointCloudStitcher_initialize(dwPointCloudStitcherHandle_t* obj,
                                         dwContextHandle_t ctx);
 
DW_API_PUBLIC
dwStatus dwPointCloudStitcher_reset(dwPointCloudStitcherHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwPointCloudStitcher_release(dwPointCloudStitcherHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwPointCloudStitcher_getCUDAStream(cudaStream_t* stream,
                                            dwPointCloudStitcherHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwPointCloudStitcher_setCUDAStream(cudaStream_t const stream,
                                            dwPointCloudStitcherHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwPointCloudStitcher_enableMotionCompensation(dwTime_t const timestamp,
                                                       dwEgomotionConstHandle_t egomotion,
                                                       dwPointCloudStitcherHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwPointCloudStitcher_disableMotionCompensation(dwPointCloudStitcherHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwPointCloudStitcher_setGlobalTransformation(dwTransformation3f const* tx,
                                                      dwPointCloudStitcherHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwPointCloudStitcher_bindInput(dwBindSlot const slot,
                                        dwPointCloud const* pointCloud,
                                        dwTransformation3f const* pointCloudToRig,
                                        dwPointCloudStitcherHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwPointCloudStitcher_bindInputLidarPointCloud(dwBindSlot const slot,
                                                       dwLidarPointCloud const* lidarPointCloud,
                                                       dwTransformation3f const* pointCloudToRig,
                                                       dwPointCloudStitcherHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwPointCloudStitcher_bindOutput(dwPointCloud* pointCloud,
                                         dwPointCloudStitcherHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwPointCloudStitcher_bindOutputLidarPointCloud(dwLidarPointCloud* lidarPointCloud,
                                                        dwPointCloudStitcherHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwPointCloudStitcher_process(dwPointCloudStitcherHandle_t obj);
 
#ifdef __cplusplus
}
#endif
#endif // DW_POINTCLOUDPROCESSING_POINTCLOUDSTITCHER_H_