Detailed Description

Defines module to perform point cloud box filtering.

Data Structures
struct	dwPointCloudBoxFilterParams
	Defines parameters for point cloud box filter. More...

Typedefs
typedef struct dwPointCloudBoxFilterObject *	dwPointCloudBoxFilterHandle_t

Enumerations
enum	dwPointCloudBoxFilterType { DW_POINT_CLOUD_BOX_FILTER_TYPE_INNER = 0 , DW_POINT_CLOUD_BOX_FILTER_TYPE_OUTER = 1 }
	Defines box filter type. More...

Functions
DW_API_PUBLIC dwStatus	dwPointCloudBoxFilter_bindInput (dwPointCloud const *const pointCloud, dwPointCloudBoxFilterHandle_t const obj)
	Binds input point cloud buffer to filter. More...

DW_API_PUBLIC dwStatus	dwPointCloudBoxFilter_bindOutput (dwPointCloud *const pointCloud, dwPointCloudBoxFilterHandle_t const obj)
	Binds output buffers to point cloud box filter. More...

DW_API_PUBLIC dwStatus	dwPointCloudBoxFilter_getCUDAStream (cudaStream_t *const stream, dwPointCloudBoxFilterHandle_t const obj)
	Gets CUDA stream of point cloud box filter. More...

DW_API_PUBLIC dwStatus	dwPointCloudBoxFilter_getDefaultParameters (dwPointCloudBoxFilterParams *const params)
	Gets default point cloud box filter parameters. More...

DW_API_PUBLIC dwStatus	dwPointCloudBoxFilter_initialize (dwPointCloudBoxFilterHandle_t const obj, dwPointCloudBoxFilterParams const const params, dwContextHandle_t const ctx)
	Initializes point cloud box filter. More...

DW_API_PUBLIC dwStatus	dwPointCloudBoxFilter_process (dwPointCloudBoxFilterHandle_t const obj)
	Applies point cloud box filter to previously bound point cloud. More...

DW_API_PUBLIC dwStatus	dwPointCloudBoxFilter_release (dwPointCloudBoxFilterHandle_t const obj)
	Releases point cloud box filter. More...

DW_API_PUBLIC dwStatus	dwPointCloudBoxFilter_reset (dwPointCloudBoxFilterHandle_t const obj)
	Resets point cloud box filter. More...

DW_API_PUBLIC dwStatus	dwPointCloudBoxFilter_setBoundingBox (dwOrientedBoundingBox3f *const boundingBox, dwPointCloudBoxFilterHandle_t const obj)
	Sets bounding box for point cloud box filter. More...

DW_API_PUBLIC dwStatus	dwPointCloudBoxFilter_setCUDAStream (cudaStream_t const stream, dwPointCloudBoxFilterHandle_t const obj)
	Sets CUDA stream of point cloud box filter. More...

DW_API_PUBLIC dwStatus	dwPointCloudBoxFilter_setDownSamplingEnabled (bool const enabled, dwPointCloudBoxFilterHandle_t const obj)
	Turns on/off down sampling. More...

DW_API_PUBLIC dwStatus	dwPointCloudBoxFilter_setFilterType (dwPointCloudBoxFilterType const type, dwPointCloudBoxFilterHandle_t const obj)
	Sets type for point cloud box filter. More...

Data Structure Documentation

◆ dwPointCloudBoxFilterParams

struct dwPointCloudBoxFilterParams

Data Fields
bool	allowDownSampling	if set, the amount of output points will automatically fit output point cloud capacity
const dwOrientedBoundingBox3f *	box	oriented bounding box
bool	enableCuda	if true filtering is performed on GPU, otherwise on CPU
uint32_t	maxInputPointCount	maximum size of input point cloud, only relevant for GPU version
dwPointCloudBoxFilterType	type	type of a filter

Typedef Documentation

◆ dwPointCloudBoxFilterHandle_t

typedef struct dwPointCloudBoxFilterObject* dwPointCloudBoxFilterHandle_t

Definition at line 58 of file PointCloudBoxFilter.h.

Enumeration Type Documentation

◆ dwPointCloudBoxFilterType

enum dwPointCloudBoxFilterType

Defines box filter type.

Enumerator
DW_POINT_CLOUD_BOX_FILTER_TYPE_INNER	pick points inside the box
DW_POINT_CLOUD_BOX_FILTER_TYPE_OUTER	pick points outside the box

Definition at line 63 of file PointCloudBoxFilter.h.

Function Documentation

◆ dwPointCloudBoxFilter_bindInput()

DW_API_PUBLIC dwStatus dwPointCloudBoxFilter_bindInput	(	dwPointCloud const *const	pointCloud,
		dwPointCloudBoxFilterHandle_t const	obj
	)

Binds input point cloud buffer to filter.

Parameters

[in]	pointCloud	Pointer to point cloud buffer
[in]	obj	Handle to point cloud box filter

Returns: DW_INVALID_ARGUMENT - if provided point cloud is nullptr or it`s characteristics
does not match thouse specified at initialization
DW_NOT_SUPPORTED - if point cloud format is other than DW_POINTCLOUD_FORMAT_XYZI DW_INVALID_HANDLE - if obj is null DW_SUCCESS

Note: If using GPU implementation i.e. enableCuda flag has been set, memory type of input point cloud must be DW_MEMORY_TYPE_CUDA. Otherwise - DW_MEMORY_TYPE_CPU.

◆ dwPointCloudBoxFilter_bindOutput()

DW_API_PUBLIC dwStatus dwPointCloudBoxFilter_bindOutput	(	dwPointCloud *const	pointCloud,
		dwPointCloudBoxFilterHandle_t const	obj
	)

Binds output buffers to point cloud box filter.

Parameters

[out]	pointCloud	Pointer to output point cloud holding filtered points
[in]	obj	Handle to point cloud box filter

Returns: DW_INVALID_ARGUMENT - if provided point cloud is nullptr or does not match characteristics specified at initialization.
DW_NOT_SUPPORTED - if point cloud format is other than DW_POINTCLOUD_FORMAT_XYZI
DW_INVALID_HANDLE - if obj is null
DW_SUCCESS

Note: Memory type of input point cloud must match enableCuda flag specified at initialization time.

◆ dwPointCloudBoxFilter_getCUDAStream()

DW_API_PUBLIC dwStatus dwPointCloudBoxFilter_getCUDAStream	(	cudaStream_t *const	stream,
		dwPointCloudBoxFilterHandle_t const	obj
	)

Gets CUDA stream of point cloud box filter.

Parameters

[out]	stream	Pointer to CUDA stream handle
[in]	obj	Handle to point cloud box filter

Returns: DW_INVALID_ARGUMENT - if stream pointer is nullptr DW_INVALID_HANDLE - if obj is null DW_SUCCESS

◆ dwPointCloudBoxFilter_getDefaultParameters()

DW_API_PUBLIC dwStatus dwPointCloudBoxFilter_getDefaultParameters ( dwPointCloudBoxFilterParams *const params )

Gets default point cloud box filter parameters.

Parameters

[in] params Pointer to point cloud box filter parameter

Returns: DW_INVALID_ARGUMENT - if params is nullptr
DW_SUCCESS

◆ dwPointCloudBoxFilter_initialize()

DW_API_PUBLIC dwStatus dwPointCloudBoxFilter_initialize	(	dwPointCloudBoxFilterHandle_t *const	obj,
		dwPointCloudBoxFilterParams const *const	params,
		dwContextHandle_t const	ctx
	)

Initializes point cloud box filter.

Parameters

[out]	obj	Handle to point cloud box filter
[in]	params	Pointer to point could filter parameter
[in]	ctx	Handle to the context

Returns: DW_INVALID_HANDLE - if provided ctx is null
DW_INVALID_ARGUMENT - if one of obj or params is null
DW_SUCCESS

◆ dwPointCloudBoxFilter_process()

DW_API_PUBLIC dwStatus dwPointCloudBoxFilter_process ( dwPointCloudBoxFilterHandle_t const obj )

Applies point cloud box filter to previously bound point cloud.

Parameters

[in] obj Handle to point cloud box filter

Returns: DW_CALL_NOT_ALLOWED - input or output buffer has not been not bound DW_INVALID_HANDLE - if obj is null DW_SUCCESS

◆ dwPointCloudBoxFilter_release()

DW_API_PUBLIC dwStatus dwPointCloudBoxFilter_release ( dwPointCloudBoxFilterHandle_t const obj )

Releases point cloud box filter.

Parameters

[in] obj Handle to point cloud box filter

Returns: DW_INVALID_HANDLE - if obj is null DW_SUCCESS

◆ dwPointCloudBoxFilter_reset()

DW_API_PUBLIC dwStatus dwPointCloudBoxFilter_reset ( dwPointCloudBoxFilterHandle_t const obj )

Resets point cloud box filter.

Parameters

[in] obj Handle to point cloud box filter

Returns: DW_INVALID_HANDLE - if provided obj is null DW_SUCCESS

◆ dwPointCloudBoxFilter_setBoundingBox()

DW_API_PUBLIC dwStatus dwPointCloudBoxFilter_setBoundingBox	(	dwOrientedBoundingBox3f *const	boundingBox,
		dwPointCloudBoxFilterHandle_t const	obj
	)

Sets bounding box for point cloud box filter.

Parameters

[out]	boundingBox	A pointer to oriented bounding box
[in]	obj	Handle to point cloud box filter

Returns: DW_INVALID_ARGUMENT - if provided boundingBox is nullptr DW_INVALID_HANDLE - if obj is null DW_SUCCESS

◆ dwPointCloudBoxFilter_setCUDAStream()

DW_API_PUBLIC dwStatus dwPointCloudBoxFilter_setCUDAStream	(	cudaStream_t const	stream,
		dwPointCloudBoxFilterHandle_t const	obj
	)

Sets CUDA stream of point cloud box filter.

Parameters

[in]	stream	Handle to CUDA stream
[in]	obj	Handle to point cloud box filter

Returns: DW_INVALID_HANDLE - if obj is null DW_SUCCESS

◆ dwPointCloudBoxFilter_setDownSamplingEnabled()

DW_API_PUBLIC dwStatus dwPointCloudBoxFilter_setDownSamplingEnabled	(	bool const	enabled,
		dwPointCloudBoxFilterHandle_t const	obj
	)

Turns on/off down sampling.

Parameters

[in]	enabled	Flag to enable/disable down sampling
[in]	obj	Handle to point cloud box filter

Returns: DW_INVALID_HANDLE - if obj is null DW_SUCCESS

◆ dwPointCloudBoxFilter_setFilterType()

DW_API_PUBLIC dwStatus dwPointCloudBoxFilter_setFilterType	(	dwPointCloudBoxFilterType const	type,
		dwPointCloudBoxFilterHandle_t const	obj
	)

Sets type for point cloud box filter.

Parameters

[out]	type	Type of a filter
[in]	obj	Handle to point cloud box filter

Returns: DW_INVALID_HANDLE - if obj is null DW_SUCCESS

Detailed Description

Data Structures

Typedefs

Enumerations

Functions

Data Structure Documentation

◆ dwPointCloudBoxFilterParams

Typedef Documentation

◆ dwPointCloudBoxFilterHandle_t

Enumeration Type Documentation

◆ dwPointCloudBoxFilterType

Function Documentation

◆ dwPointCloudBoxFilter_bindInput()

◆ dwPointCloudBoxFilter_bindOutput()

◆ dwPointCloudBoxFilter_getCUDAStream()

◆ dwPointCloudBoxFilter_getDefaultParameters()

◆ dwPointCloudBoxFilter_initialize()

◆ dwPointCloudBoxFilter_process()

◆ dwPointCloudBoxFilter_release()

◆ dwPointCloudBoxFilter_reset()

◆ dwPointCloudBoxFilter_setBoundingBox()

◆ dwPointCloudBoxFilter_setCUDAStream()

◆ dwPointCloudBoxFilter_setDownSamplingEnabled()

◆ dwPointCloudBoxFilter_setFilterType()