Detailed Description

Defines module to extract one 3D plane nearby the sensor.

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

struct	dwPointCloudExtractedPlane
	Defines extracted 3D plane. More...

struct	dwPointCloudPlaneExtractorParams
	Defines plane extraction parameter. More...

Typedefs
typedef struct dwPointCloudPlaneExtractorObject *	dwPointCloudPlaneExtractorHandle_t

Functions
DW_API_PUBLIC dwStatus	dwPCPlaneExtractor_bindInput (dwPointCloud const *const pointCloud, dwPointCloudPlaneExtractorHandle_t const obj)
	Binds point cloud buffer to plane extractor. More...

DW_API_PUBLIC dwStatus	dwPCPlaneExtractor_bindOutput (dwPointCloud const inliers, dwPointCloud const outliers, dwPointCloudExtractedPlane *const outputPlane, dwPointCloudPlaneExtractorHandle_t const obj)
	Binds output buffers to point cloud plane extractor. More...

DW_API_PUBLIC dwStatus	dwPCPlaneExtractor_getCUDAStream (cudaStream_t *const stream, dwPointCloudPlaneExtractorHandle_t const obj)
	Gets CUDA stream of point cloud plane extractor. More...

DW_API_PUBLIC dwStatus	dwPCPlaneExtractor_getDefaultParameters (dwPointCloudPlaneExtractorParams *const params)
	Gets default point cloud plane extractor parameters. More...

DW_API_PUBLIC dwStatus	dwPCPlaneExtractor_initialize (dwPointCloudPlaneExtractorHandle_t const obj, dwPointCloudPlaneExtractorParams const const params, dwContextHandle_t const ctx)
	Initializes point cloud plane extractor. More...

DW_API_PUBLIC dwStatus	dwPCPlaneExtractor_process (dwPointCloudPlaneExtractorHandle_t const obj)
	Extracts 3D ground plane and stores the results to output buffer. More...

DW_API_PUBLIC dwStatus	dwPCPlaneExtractor_release (dwPointCloudPlaneExtractorHandle_t const obj)
	Releases point cloud plane extractor. More...

DW_API_PUBLIC dwStatus	dwPCPlaneExtractor_reset (dwPointCloudPlaneExtractorHandle_t const obj)
	Resets point cloud plane extractor. More...

DW_API_PUBLIC dwStatus	dwPCPlaneExtractor_setCUDAStream (cudaStream_t const stream, dwPointCloudPlaneExtractorHandle_t const obj)
	Sets CUDA stream of point cloud plane extractor. More...

DW_API_PUBLIC dwStatus	dwPointCloudPlaneExtractor_bindInput (dwPointCloud const *const pointCloud, dwPointCloudPlaneExtractorHandle_t const obj)
	Binds point cloud buffer to plane extractor. More...

DW_API_PUBLIC dwStatus	dwPointCloudPlaneExtractor_bindOutput (dwPointCloud const inliers, dwPointCloud const outliers, dwPointCloudExtractedPlane *const outputPlane, dwPointCloudPlaneExtractorHandle_t const obj)
	Binds output buffers to point cloud plane extractor. More...

DW_API_PUBLIC dwStatus	dwPointCloudPlaneExtractor_getCUDAStream (cudaStream_t *const stream, dwPointCloudPlaneExtractorHandle_t const obj)
	Gets CUDA stream of point cloud plane extractor. More...

DW_API_PUBLIC dwStatus	dwPointCloudPlaneExtractor_getDefaultParameters (dwPointCloudPlaneExtractorParams *const params)
	Gets default point cloud plane extractor parameters. More...

DW_API_PUBLIC dwStatus	dwPointCloudPlaneExtractor_initialize (dwPointCloudPlaneExtractorHandle_t const obj, dwPointCloudPlaneExtractorParams const const params, dwContextHandle_t const ctx)
	Initializes point cloud plane extractor. More...

DW_API_PUBLIC dwStatus	dwPointCloudPlaneExtractor_process (dwPointCloudPlaneExtractorHandle_t const obj)
	Extracts 3D ground plane and stores the results to output buffer. More...

DW_API_PUBLIC dwStatus	dwPointCloudPlaneExtractor_release (dwPointCloudPlaneExtractorHandle_t const obj)
	Releases point cloud plane extractor. More...

DW_API_PUBLIC dwStatus	dwPointCloudPlaneExtractor_reset (dwPointCloudPlaneExtractorHandle_t const obj)
	Resets point cloud plane extractor. More...

DW_API_PUBLIC dwStatus	dwPointCloudPlaneExtractor_setCUDAStream (cudaStream_t const stream, dwPointCloudPlaneExtractorHandle_t const obj)
	Sets CUDA stream of point cloud plane extractor. More...

Data Structure Documentation

◆ dwPlaneExtractorBoxFilterParams

struct dwPlaneExtractorBoxFilterParams

Data Fields
dwOrientedBoundingBox3f	box	oriented bounding box
uint32_t	maxPointCount	maximum number of accepted points

◆ dwPointCloudExtractedPlane

struct dwPointCloudExtractedPlane

Data Fields
dwVector3f	normal	normal vector of the ground plane
float32_t	offset	offset distance of the ground plane to the coordinate origin
dwTransformation3f	transformation	rotation and translation of the plane given the estimated normal vector and plane offset
bool	valid	If this is false, it indicates the ransac plane fitting and optimization failed to produce a 3D ground plane, user should not use the estimated normal and offset.

◆ dwPointCloudPlaneExtractorParams

struct dwPointCloudPlaneExtractorParams

Data Fields
dwPlaneExtractorBoxFilterParams	boxFilterParams	box filter parameters
bool	cudaPipelineEnabled	Setting to true will process with CUDA pipeline.
float32_t	maxInlierDistance	maximum inlier distance to the estimated plane
uint32_t	maxInputPointCount	maximum number of points in input point cloud
float32_t	minInlierFraction	minimum inlier percentage for ransac plane fitting
uint32_t	optimizerIterationCount	optimization iteration number
uint32_t	ransacIterationCount	ransac iteration number
dwMatrix3f	rotation	rotation that aligns the point cloud with ground plane

Typedef Documentation

◆ dwPointCloudPlaneExtractorHandle_t

typedef struct dwPointCloudPlaneExtractorObject* dwPointCloudPlaneExtractorHandle_t

Definition at line 58 of file PointCloudPlaneExtractor.h.

Function Documentation

◆ dwPCPlaneExtractor_bindInput()

DW_API_PUBLIC dwStatus dwPCPlaneExtractor_bindInput	(	dwPointCloud const *const	pointCloud,
		dwPointCloudPlaneExtractorHandle_t const	obj
	)

Binds point cloud buffer to plane extractor.

Parameters

[in]	pointCloud	Pointer to point cloud buffer
[in]	obj	Handle to point cloud plane extractor

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

◆ dwPCPlaneExtractor_bindOutput()

DW_API_PUBLIC dwStatus dwPCPlaneExtractor_bindOutput	(	dwPointCloud *const	inliers,
		dwPointCloud *const	outliers,
		dwPointCloudExtractedPlane *const	outputPlane,
		dwPointCloudPlaneExtractorHandle_t const	obj
	)

Binds output buffers to point cloud plane extractor.

Parameters

[out]	inliers	Pointer to output buffer stores inlier points (optional, can be null)
[out]	outliers	Pointer to output buffer stores outlier points (optional, can be null)
[out]	outputPlane	Pointer to extracted 3D plane
[in]	obj	Handle to point cloud plane extractor

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

◆ dwPCPlaneExtractor_getCUDAStream()

DW_API_PUBLIC dwStatus dwPCPlaneExtractor_getCUDAStream	(	cudaStream_t *const	stream,
		dwPointCloudPlaneExtractorHandle_t const	obj
	)

Gets CUDA stream of point cloud plane extractor.

Parameters

[out]	stream	Pointer to CUDA stream handle
[in]	obj	Handle to point cloud plane extractor

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

◆ dwPCPlaneExtractor_getDefaultParameters()

DW_API_PUBLIC dwStatus dwPCPlaneExtractor_getDefaultParameters ( dwPointCloudPlaneExtractorParams *const params )

Gets default point cloud plane extractor parameters.

Parameters

[in] params Pointer to point cloud plane extractor parameter

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

◆ dwPCPlaneExtractor_initialize()

DW_API_PUBLIC dwStatus dwPCPlaneExtractor_initialize	(	dwPointCloudPlaneExtractorHandle_t *const	obj,
		dwPointCloudPlaneExtractorParams const *const	params,
		dwContextHandle_t const	ctx
	)

Initializes point cloud plane extractor.

Parameters

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

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

◆ dwPCPlaneExtractor_process()

DW_API_PUBLIC dwStatus dwPCPlaneExtractor_process ( dwPointCloudPlaneExtractorHandle_t const obj )

Extracts 3D ground plane and stores the results to output buffer.

Parameters

[in] obj Handle to point cloud plane extractor

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT - input/output buffer memory type does not match with the variable cudaPipelineEnabled in dwPointCloudPlaneExtractorParams
DW_CALL_NOT_ALLOWED - user did not bind input buffer and output plane

◆ dwPCPlaneExtractor_release()

DW_API_PUBLIC dwStatus dwPCPlaneExtractor_release ( dwPointCloudPlaneExtractorHandle_t const obj )

Releases point cloud plane extractor.

Parameters

[in] obj Handle to point cloud plane extractor

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

◆ dwPCPlaneExtractor_reset()

DW_API_PUBLIC dwStatus dwPCPlaneExtractor_reset ( dwPointCloudPlaneExtractorHandle_t const obj )

Resets point cloud plane extractor.

Parameters

[in] obj Handle to point cloud plane extractor

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

◆ dwPCPlaneExtractor_setCUDAStream()

DW_API_PUBLIC dwStatus dwPCPlaneExtractor_setCUDAStream	(	cudaStream_t const	stream,
		dwPointCloudPlaneExtractorHandle_t const	obj
	)

Sets CUDA stream of point cloud plane extractor.

Parameters

[in]	stream	Handle to CUDA stream
[in]	obj	Handle to point cloud plane extractor

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

◆ dwPointCloudPlaneExtractor_bindInput()

DW_API_PUBLIC dwStatus dwPointCloudPlaneExtractor_bindInput	(	dwPointCloud const *const	pointCloud,
		dwPointCloudPlaneExtractorHandle_t const	obj
	)

Binds point cloud buffer to plane extractor.

Parameters

[in]	pointCloud	Pointer to point cloud buffer
[in]	obj	Handle to point cloud plane extractor

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

◆ dwPointCloudPlaneExtractor_bindOutput()

DW_API_PUBLIC dwStatus dwPointCloudPlaneExtractor_bindOutput	(	dwPointCloud *const	inliers,
		dwPointCloud *const	outliers,
		dwPointCloudExtractedPlane *const	outputPlane,
		dwPointCloudPlaneExtractorHandle_t const	obj
	)

Binds output buffers to point cloud plane extractor.

Parameters

[out]	inliers	Pointer to output buffer stores inlier points (optional, can be null)
[out]	outliers	Pointer to output buffer stores outlier points (optional, can be null)
[out]	outputPlane	Pointer to extracted 3D plane
[in]	obj	Handle to point cloud plane extractor

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

◆ dwPointCloudPlaneExtractor_getCUDAStream()

DW_API_PUBLIC dwStatus dwPointCloudPlaneExtractor_getCUDAStream	(	cudaStream_t *const	stream,
		dwPointCloudPlaneExtractorHandle_t const	obj
	)

Gets CUDA stream of point cloud plane extractor.

Parameters

[out]	stream	Pointer to CUDA stream handle
[in]	obj	Handle to point cloud plane extractor

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

◆ dwPointCloudPlaneExtractor_getDefaultParameters()

DW_API_PUBLIC dwStatus dwPointCloudPlaneExtractor_getDefaultParameters ( dwPointCloudPlaneExtractorParams *const params )

Gets default point cloud plane extractor parameters.

Parameters

[in] params Pointer to point cloud plane extractor parameter

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

◆ dwPointCloudPlaneExtractor_initialize()

DW_API_PUBLIC dwStatus dwPointCloudPlaneExtractor_initialize	(	dwPointCloudPlaneExtractorHandle_t *const	obj,
		dwPointCloudPlaneExtractorParams const *const	params,
		dwContextHandle_t const	ctx
	)

Initializes point cloud plane extractor.

Parameters

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

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

◆ dwPointCloudPlaneExtractor_process()

DW_API_PUBLIC dwStatus dwPointCloudPlaneExtractor_process ( dwPointCloudPlaneExtractorHandle_t const obj )

Extracts 3D ground plane and stores the results to output buffer.

Parameters

[in] obj Handle to point cloud plane extractor

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT - input/output buffer memory type does not match with the variable cudaPipelineEnabled in dwPointCloudPlaneExtractorParams
DW_CALL_NOT_ALLOWED - user did not bind input buffer and output plane

◆ dwPointCloudPlaneExtractor_release()

DW_API_PUBLIC dwStatus dwPointCloudPlaneExtractor_release ( dwPointCloudPlaneExtractorHandle_t const obj )

Releases point cloud plane extractor.

Parameters

[in] obj Handle to point cloud plane extractor

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

◆ dwPointCloudPlaneExtractor_reset()

DW_API_PUBLIC dwStatus dwPointCloudPlaneExtractor_reset ( dwPointCloudPlaneExtractorHandle_t const obj )

Resets point cloud plane extractor.

Parameters

[in] obj Handle to point cloud plane extractor

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

◆ dwPointCloudPlaneExtractor_setCUDAStream()

DW_API_PUBLIC dwStatus dwPointCloudPlaneExtractor_setCUDAStream	(	cudaStream_t const	stream,
		dwPointCloudPlaneExtractorHandle_t const	obj
	)

Sets CUDA stream of point cloud plane extractor.

Parameters

[in]	stream	Handle to CUDA stream
[in]	obj	Handle to point cloud plane extractor

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

Detailed Description

Data Structures

Typedefs

Functions

Data Structure Documentation

◆ dwPlaneExtractorBoxFilterParams

◆ dwPointCloudExtractedPlane

◆ dwPointCloudPlaneExtractorParams

Typedef Documentation

◆ dwPointCloudPlaneExtractorHandle_t

Function Documentation

◆ dwPCPlaneExtractor_bindInput()

◆ dwPCPlaneExtractor_bindOutput()

◆ dwPCPlaneExtractor_getCUDAStream()

◆ dwPCPlaneExtractor_getDefaultParameters()

◆ dwPCPlaneExtractor_initialize()

◆ dwPCPlaneExtractor_process()

◆ dwPCPlaneExtractor_release()

◆ dwPCPlaneExtractor_reset()

◆ dwPCPlaneExtractor_setCUDAStream()

◆ dwPointCloudPlaneExtractor_bindInput()

◆ dwPointCloudPlaneExtractor_bindOutput()

◆ dwPointCloudPlaneExtractor_getCUDAStream()

◆ dwPointCloudPlaneExtractor_getDefaultParameters()

◆ dwPointCloudPlaneExtractor_initialize()

◆ dwPointCloudPlaneExtractor_process()

◆ dwPointCloudPlaneExtractor_release()

◆ dwPointCloudPlaneExtractor_reset()

◆ dwPointCloudPlaneExtractor_setCUDAStream()