DriveWorks SDK Reference
5.14.77 Release
For Test and Development only

Rig.h
Go to the documentation of this file.
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30
46#ifndef DW_RIG_RIG_H_
47#define DW_RIG_RIG_H_
48
49#include "RigTypes.h"
50
51#include <dw/core/base/Config.h>
54#include <dw/core/base/Types.h>
55#include <dw/sensors/Sensors.h>
56#include <dw/rig/Vehicle.h>
57#include <stdint.h>
58
59#ifdef __cplusplus
60extern "C" {
61#endif
62
72typedef struct dwRigObject* dwRigHandle_t;
73typedef struct dwRigObject const* dwConstRigHandle_t;
74
96 dwContextHandle_t const ctx,
97 char8_t const* const configurationFile);
98
118 dwContextHandle_t const ctx,
119 char8_t const* const configurationString,
120 char8_t const* const relativeBasePath);
121
133
145
161dwStatus dwRig_getVehicle(dwVehicle const** const vehicle, dwConstRigHandle_t const obj);
162
177
192dwStatus dwRig_setVehicle(dwVehicle const* const vehicle, dwRigHandle_t const obj);
193
208
221dwStatus dwRig_getVehicleIOConfigCount(uint32_t* const vioConfigCount,
222 dwConstRigHandle_t const obj);
223
235dwStatus dwRig_getSensorCount(uint32_t* const sensorCount,
236 dwConstRigHandle_t const obj);
237
250dwStatus dwRig_getSensorCountOfType(uint32_t* const sensorCount,
251 dwSensorType const sensorType,
252 dwConstRigHandle_t const obj);
253
269dwStatus dwRig_getSensorProtocol(char8_t const** const sensorProtocol,
270 uint32_t const sensorId,
271 dwConstRigHandle_t const obj);
272
286DW_API_PUBLIC dwStatus dwRig_getSensorParameter(char8_t const** const sensorParameter,
287 uint32_t const sensorId,
288 dwConstRigHandle_t const obj);
289
303DW_API_PUBLIC dwStatus dwRig_setSensorParameter(char8_t const* const sensorParameter,
304 uint32_t const sensorId,
305 dwRigHandle_t const obj);
306
324DW_API_PUBLIC dwStatus dwRig_getSensorParameterUpdatedPath(char8_t const** const sensorParameter,
325 uint32_t const sensorId,
326 dwConstRigHandle_t const obj);
327
345 uint32_t const sensorId,
346 dwConstRigHandle_t const obj);
347
364 uint32_t const sensorId,
365 dwConstRigHandle_t const obj);
366
384 uint32_t const sensorId,
385 dwConstRigHandle_t const obj);
386
404 uint32_t const sensorIdFrom,
405 uint32_t const sensorIdTo,
406 dwConstRigHandle_t const obj);
407
426 uint32_t const sensorIdFrom,
427 uint32_t const sensorIdTo,
428 dwConstRigHandle_t const obj);
429
446 uint32_t const sensorId,
447 dwRigHandle_t const obj);
448
463dwStatus dwRig_getSensorName(char8_t const** const sensorName,
464 uint32_t const sensorId,
465 dwConstRigHandle_t const obj);
466
482dwStatus dwRig_getSensorDataPath(char8_t const** const dataPath,
483 uint32_t const sensorId,
484 dwConstRigHandle_t const obj);
485
500dwStatus dwRig_getCameraTimestampPath(char8_t const** const timestampPath,
501 uint32_t const sensorId,
502 dwConstRigHandle_t const obj);
503
521dwStatus dwRig_getSensorPropertyByName(char8_t const** const propertyValue,
522 char8_t const* const propertyName,
523 uint32_t const sensorId,
524 dwConstRigHandle_t const obj);
525
541dwStatus dwRig_addOrSetSensorPropertyByName(char8_t const* const propertyValue,
542 char8_t const* const propertyName,
543 uint32_t const sensorId,
544 dwRigHandle_t const obj);
561dwStatus dwRig_getPropertyByName(char8_t const** const propertyValue,
562 char8_t const* const propertyName,
563 dwConstRigHandle_t const obj);
564
579dwStatus dwRig_addOrSetPropertyByName(char8_t const* const propertyValue,
580 char8_t const* const propertyName,
581 dwRigHandle_t const obj);
582
597dwStatus dwRig_findSensorByName(uint32_t* const sensorId,
598 char8_t const* const sensorName,
599 dwConstRigHandle_t const obj);
615 uint32_t const vehicleIOId,
616 dwConstRigHandle_t const obj);
617
633dwStatus dwRig_findSensorByTypeIndex(uint32_t* const sensorId,
634 dwSensorType const sensorType,
635 uint32_t const sensorTypeIndex,
636 dwConstRigHandle_t const obj);
637
652 uint32_t const sensorId,
653 dwConstRigHandle_t const obj);
654
671 uint32_t const sensorId,
672 dwConstRigHandle_t const obj);
673
689 uint32_t const sensorId,
690 dwConstRigHandle_t const obj);
691
710 uint32_t const sensorId,
711 dwConstRigHandle_t const obj);
712
730DW_DEPRECATED("dwRig_getFThetaCameraConfigNew is replaced by dwRig_getFThetaCameraConfig.")
732 uint32_t const sensorId,
733 dwConstRigHandle_t const obj);
734
750 uint32_t const sensorId,
751 dwRigHandle_t const obj);
752
768 uint32_t const sensorId,
769 dwRigHandle_t const obj);
770
790dwStatus dwRig_serializeToFile(char8_t const* const configurationFile,
791 dwConstRigHandle_t const obj);
792
793#ifdef __cplusplus
794}
795#endif
796
798#endif // DW_RIG_RIG_H_
NVIDIA DriveWorks API: Core Methods
dwStatus
Status definition.
Definition: ErrorDefs.h:45
NVIDIA DriveWorks API: Rig Configuration types for public
dwCameraModel
Specifies the supported optical camera models.
Definition: RigTypes.h:72
Configuration parameters for a calibrated FTheta camera.
Definition: RigTypes.h:282
NVIDIA DriveWorks API: Sensors
NVIDIA DriveWorks API: Core Types
NVIDIA DriveWorks API: Vehicle Parameters
NVIDIA DriveWorks API: Core Exports
struct dwContextObject * dwContextHandle_t
Context handle.
Definition: Context.h:86
#define DW_DEPRECATED(msg)
Definition: Exports.h:66
#define DW_API_PUBLIC
Definition: Exports.h:54
DW_API_PUBLIC dwStatus dwRig_getSensorName(char8_t const **const sensorName, uint32_t const sensorId, dwConstRigHandle_t const obj)
Gets the name of a sensor as given in the configuration.
DW_API_PUBLIC dwStatus dwRig_getSensorDataPath(char8_t const **const dataPath, uint32_t const sensorId, dwConstRigHandle_t const obj)
Gets path to sensor recording.
DW_API_PUBLIC dwStatus dwRig_setVehicle(dwVehicle const *const vehicle, dwRigHandle_t const obj)
DEPRECATED: Sets the properties of a passenger car vehicle.
DW_API_PUBLIC dwStatus dwRig_getFThetaCameraConfigNew(dwFThetaCameraConfig *const config, uint32_t const sensorId, dwConstRigHandle_t const obj)
Gets the parameters of the FTheta camera model.
DW_API_PUBLIC dwStatus dwRig_setFThetaCameraConfig(dwFThetaCameraConfig const *const config, uint32_t const sensorId, dwRigHandle_t const obj)
Sets the parameters of the FTheta camera model.
DW_API_PUBLIC dwStatus dwRig_getSensorProtocol(char8_t const **const sensorProtocol, uint32_t const sensorId, dwConstRigHandle_t const obj)
Gets the protocol string of a sensor.
DW_API_PUBLIC dwStatus dwRig_getSensorType(dwSensorType *const sensorType, uint32_t const sensorId, dwConstRigHandle_t const obj)
Returns the type of sensor based upon the sensorID sent into the method.
DW_API_PUBLIC dwStatus dwRig_getNominalSensorToSensorTransformation(dwTransformation3f *const transformation, uint32_t const sensorIdFrom, uint32_t const sensorIdTo, dwConstRigHandle_t const obj)
Gets the nominal sensor to sensor transformation for a pair of sensors.
DW_API_PUBLIC dwStatus dwRig_setPinholeCameraConfig(dwPinholeCameraConfig const *const config, uint32_t const sensorId, dwRigHandle_t const obj)
Sets the parameters of the pinhole camera model.
DW_API_PUBLIC dwStatus dwRig_release(dwRigHandle_t const obj)
Releases the Rig Configuration module.
DW_API_PUBLIC dwStatus dwRig_getPinholeCameraConfig(dwPinholeCameraConfig *const config, uint32_t const sensorId, dwConstRigHandle_t const obj)
Gets the parameters of the Pinhole camera model.
DW_API_PUBLIC dwStatus dwRig_initializeFromString(dwRigHandle_t *const obj, dwContextHandle_t const ctx, char8_t const *const configurationString, char8_t const *const relativeBasePath)
Initializes the Rig Configuration module from a string.
DW_API_PUBLIC dwStatus dwRig_getSensorPropertyByName(char8_t const **const propertyValue, char8_t const *const propertyName, uint32_t const sensorId, dwConstRigHandle_t const obj)
Returns property stored inside of a sensor.
DW_API_PUBLIC dwStatus dwRig_getPropertyByName(char8_t const **const propertyValue, char8_t const *const propertyName, dwConstRigHandle_t const obj)
Returns property stored inside of rig.
DW_API_PUBLIC dwStatus dwRig_getSensorToSensorTransformation(dwTransformation3f *const transformation, uint32_t const sensorIdFrom, uint32_t const sensorIdTo, dwConstRigHandle_t const obj)
Gets the sensor to sensor transformation for a pair of sensors.
DW_API_PUBLIC dwStatus dwRig_findSensorIdFromVehicleIOId(uint32_t *const sensorId, uint32_t const vehicleIOId, dwConstRigHandle_t const obj)
Finds a sensor with the given vehicleIO ID and returns the index.
DW_API_PUBLIC dwStatus dwRig_reset(dwRigHandle_t const obj)
Resets the Rig Configuration module.
DW_API_PUBLIC dwStatus dwRig_findSensorByTypeIndex(uint32_t *const sensorId, dwSensorType const sensorType, uint32_t const sensorTypeIndex, dwConstRigHandle_t const obj)
Finds the absolute sensor index of the Nth sensor of a given type.
DW_API_PUBLIC dwStatus dwRig_getGenericVehicle(dwGenericVehicle *const vehicle, dwConstRigHandle_t const obj)
Gets the properties of a generic vehicle (car or truck).
struct dwRigObject * dwRigHandle_t
Handle representing the Rig interface.
Definition: Rig.h:72
DW_API_PUBLIC dwStatus dwRig_getNominalSensorToRigTransformation(dwTransformation3f *const transformation, uint32_t const sensorId, dwConstRigHandle_t const obj)
Gets the nominal sensor to rig transformation for a sensor.
DW_API_PUBLIC dwStatus dwRig_serializeToFile(char8_t const *const configurationFile, dwConstRigHandle_t const obj)
This method serializes the rig-configuration object to a human-readable rig-configuration file.
DW_API_PUBLIC dwStatus dwRig_getSensorToRigTransformation(dwTransformation3f *const transformation, uint32_t const sensorId, dwConstRigHandle_t const obj)
Gets the sensor to rig transformation for a sensor.
DW_API_PUBLIC dwStatus dwRig_findSensorByName(uint32_t *const sensorId, char8_t const *const sensorName, dwConstRigHandle_t const obj)
Finds the sensor with the given name and returns its index.
DW_API_PUBLIC dwStatus dwRig_getSensorCountOfType(uint32_t *const sensorCount, dwSensorType const sensorType, dwConstRigHandle_t const obj)
Find number of sensors of a given type.
DW_API_PUBLIC dwStatus dwRig_setSensorParameter(char8_t const *const sensorParameter, uint32_t const sensorId, dwRigHandle_t const obj)
Sets the parameter string for a sensor.
DW_API_PUBLIC dwStatus dwRig_getVehicle(dwVehicle const **const vehicle, dwConstRigHandle_t const obj)
DEPRECATED: Gets the properties of a passenger car vehicle.
DW_API_PUBLIC dwStatus dwRig_getSensorFLUToRigTransformation(dwTransformation3f *const transformation, uint32_t const sensorId, dwConstRigHandle_t const obj)
Gets the sensor FLU to rig transformation for a sensor.
DW_API_PUBLIC dwStatus dwRig_addOrSetPropertyByName(char8_t const *const propertyValue, char8_t const *const propertyName, dwRigHandle_t const obj)
Overwrite content of an existing rig property.
DW_API_PUBLIC dwStatus dwRig_getSensorCount(uint32_t *const sensorCount, dwConstRigHandle_t const obj)
Gets the number of all available sensors.
DW_API_PUBLIC dwStatus dwRig_initializeFromFile(dwRigHandle_t *const obj, dwContextHandle_t const ctx, char8_t const *const configurationFile)
Initializes the Rig Configuration module from a file.
DW_API_PUBLIC dwStatus dwRig_getSensorParameterUpdatedPath(char8_t const **const sensorParameter, uint32_t const sensorId, dwConstRigHandle_t const obj)
Gets the parameter string for a sensor with any path described by file=,video=,timestamp= property mo...
struct dwRigObject const * dwConstRigHandle_t
Definition: Rig.h:73
DW_API_PUBLIC dwStatus dwRig_getCameraTimestampPath(char8_t const **const timestampPath, uint32_t const sensorId, dwConstRigHandle_t const obj)
Gets path to camera timestamp file.
DW_API_PUBLIC dwStatus dwRig_setSensorToRigTransformation(dwTransformation3f const *const transformation, uint32_t const sensorId, dwRigHandle_t const obj)
Sets the sensor to rig transformation for a sensor.
DW_API_PUBLIC dwStatus dwRig_getFThetaCameraConfig(dwFThetaCameraConfig *const config, uint32_t const sensorId, dwConstRigHandle_t const obj)
Gets the parameters of the FTheta camera model.
DW_API_PUBLIC dwStatus dwRig_addOrSetSensorPropertyByName(char8_t const *const propertyValue, char8_t const *const propertyName, uint32_t const sensorId, dwRigHandle_t const obj)
Overwrite content of an existing sensor property.
DW_API_PUBLIC dwStatus dwRig_getCameraModel(dwCameraModel *const cameraModel, uint32_t const sensorId, dwConstRigHandle_t const obj)
Gets the model type of the camera intrinsics.
DW_API_PUBLIC dwStatus dwRig_getSensorParameter(char8_t const **const sensorParameter, uint32_t const sensorId, dwConstRigHandle_t const obj)
Gets the parameter string for a sensor.
DW_API_PUBLIC dwStatus dwRig_getVehicleIOConfigCount(uint32_t *const vioConfigCount, dwConstRigHandle_t const obj)
Gets the number of vehicle IO sensors.
DW_API_PUBLIC dwStatus dwRig_setGenericVehicle(dwGenericVehicle const *const vehicle, dwRigHandle_t const obj)
Sets the properties of a generic vehicle (car or truck).
Vehicle description.
Definition: Vehicle.h:313
DEPRECATED: Properties of a passenger car vehicle.
Definition: Vehicle.h:354
dwSensorType
Defines the type of sensors that are available in DriveWorks.
Definition: Sensors.h:195
Specifies a 3D rigid transformation.
Definition: MatrixTypes.h:186