Detailed Description

Defines module to register/stitch multiple sets of point clouds.

Macros
#define	DW_POINTCLOUD_STITCHER_MAX_POINT_CLOUDS DW_BIND_SLOT_MAX_COUNT
	This defines the maximum number of point clouds anticipated to be stitched. More...

Typedefs
typedef struct dwPointCloudStitcherObject *	dwPointCloudStitcherHandle_t

Functions
DW_API_PUBLIC dwStatus	dwPointCloudStitcher_bindInput (dwBindSlot const slot, dwPointCloud const pointCloud, dwTransformation3f const pointCloudToRig, dwPointCloudStitcherHandle_t obj)
	Binds input point cloud to the point cloud stitcher. More...

DW_API_PUBLIC dwStatus	dwPointCloudStitcher_bindInputLidarPointCloud (dwBindSlot const slot, dwLidarPointCloud const lidarPointCloud, dwTransformation3f const pointCloudToRig, dwPointCloudStitcherHandle_t obj)
	Binds input lidar specific point cloud to the point cloud stitcher. More...

DW_API_PUBLIC dwStatus	dwPointCloudStitcher_bindOutput (dwPointCloud *pointCloud, dwPointCloudStitcherHandle_t obj)
	Binds output buffer to the point cloud stitcher. More...

DW_API_PUBLIC dwStatus	dwPointCloudStitcher_bindOutputLidarPointCloud (dwLidarPointCloud *lidarPointCloud, dwPointCloudStitcherHandle_t obj)
	Binds output lidar specific point cloud to the stitcher. More...

DW_API_PUBLIC dwStatus	dwPointCloudStitcher_disableMotionCompensation (dwPointCloudStitcherHandle_t obj)
	Disables motion compensation for the stitched point cloud. More...

DW_API_PUBLIC dwStatus	dwPointCloudStitcher_enableMotionCompensation (dwTime_t const timestamp, dwEgomotionConstHandle_t egomotion, dwPointCloudStitcherHandle_t obj)
	Enables motion compensation for the stitched point cloud. More...

DW_API_PUBLIC dwStatus	dwPointCloudStitcher_getCUDAStream (cudaStream_t *stream, dwPointCloudStitcherHandle_t obj)
	Gets CUDA stream of point cloud stitcher. More...

DW_API_PUBLIC dwStatus	dwPointCloudStitcher_initialize (dwPointCloudStitcherHandle_t *obj, dwContextHandle_t ctx)
	Initializes point cloud stitcher. More...

DW_API_PUBLIC dwStatus	dwPointCloudStitcher_process (dwPointCloudStitcherHandle_t obj)
	Transforms all the input point clouds to a common coordinate. More...

DW_API_PUBLIC dwStatus	dwPointCloudStitcher_release (dwPointCloudStitcherHandle_t obj)
	Releases point cloud stitcher. More...

DW_API_PUBLIC dwStatus	dwPointCloudStitcher_reset (dwPointCloudStitcherHandle_t obj)
	Resets point cloud stitcher. More...

DW_API_PUBLIC dwStatus	dwPointCloudStitcher_setCUDAStream (cudaStream_t const stream, dwPointCloudStitcherHandle_t obj)
	Sets CUDA stream of point cloud stitcher. More...

DW_API_PUBLIC dwStatus	dwPointCloudStitcher_setGlobalTransformation (dwTransformation3f const *tx, dwPointCloudStitcherHandle_t obj)
	Sets global transformation for the stitched point cloud. More...

Macro Definition Documentation

◆ DW_POINTCLOUD_STITCHER_MAX_POINT_CLOUDS

#define DW_POINTCLOUD_STITCHER_MAX_POINT_CLOUDS DW_BIND_SLOT_MAX_COUNT

This defines the maximum number of point clouds anticipated to be stitched.

Definition at line 61 of file PointCloudStitcher.h.

Typedef Documentation

◆ dwPointCloudStitcherHandle_t

typedef struct dwPointCloudStitcherObject* dwPointCloudStitcherHandle_t

Definition at line 63 of file PointCloudStitcher.h.

Function Documentation

◆ dwPointCloudStitcher_bindInput()

DW_API_PUBLIC dwStatus dwPointCloudStitcher_bindInput	(	dwBindSlot const	slot,
		dwPointCloud const *	pointCloud,
		dwTransformation3f const *	pointCloudToRig,
		dwPointCloudStitcherHandle_t	obj
	)

Binds input point cloud to the point cloud stitcher.

Parameters

[in]	slot	destination slot
[in]	pointCloud	Pointer to the input point cloud
[in]	pointCloudToRig	Optional transformation from internal point cloud coordinate system to rig space. The pointer object shall be valid during the whole stitcher object lifetime.
[in]	obj	Handle to the point cloud stitcher

Returns: DW_SUCCESS
DW_INVALID_HANDLE - provided handle to point cloud stitcher is null
DW_OUT_OF_BOUNDS - slot index is out of bounds

◆ dwPointCloudStitcher_bindInputLidarPointCloud()

DW_API_PUBLIC dwStatus dwPointCloudStitcher_bindInputLidarPointCloud	(	dwBindSlot const	slot,
		dwLidarPointCloud const *	lidarPointCloud,
		dwTransformation3f const *	pointCloudToRig,
		dwPointCloudStitcherHandle_t	obj
	)

Binds input lidar specific point cloud to the point cloud stitcher.

Parameters

[in]	slot	destination slot
[in]	lidarPointCloud	Pointer to the input point cloud
[in]	pointCloudToRig	Optional transformation from internal point cloud coordinate system to rig space
[in]	obj	Handle to the point cloud stitcher

Returns: DW_SUCCESS
DW_INVALID_HANDLE - provided handle to point cloud stitcher is null
DW_OUT_OF_BOUNDS - slot index is out of bounds

Note: The value of provided transformation is copied at the time of this function call. Make sure to update transformation calling the method every time it is modified outside the module.

◆ dwPointCloudStitcher_bindOutput()

DW_API_PUBLIC dwStatus dwPointCloudStitcher_bindOutput	(	dwPointCloud *	pointCloud,
		dwPointCloudStitcherHandle_t	obj
	)

Binds output buffer to the point cloud stitcher.

Parameters

[out]	pointCloud	Pointer to output buffer which stores the stitched point cloud
[in]	obj	Handle to the point cloud stitcher

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

◆ dwPointCloudStitcher_bindOutputLidarPointCloud()

DW_API_PUBLIC dwStatus dwPointCloudStitcher_bindOutputLidarPointCloud	(	dwLidarPointCloud *	lidarPointCloud,
		dwPointCloudStitcherHandle_t	obj
	)

Binds output lidar specific point cloud to the stitcher.

Parameters

[out]	lidarPointCloud	Pointer to stitched point cloud
[in]	obj	Handle to the point cloud stitcher

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

◆ dwPointCloudStitcher_disableMotionCompensation()

DW_API_PUBLIC dwStatus dwPointCloudStitcher_disableMotionCompensation ( dwPointCloudStitcherHandle_t obj )

Disables motion compensation for the stitched point cloud.

Parameters

[in] obj Handle to point cloud stitcher

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

◆ dwPointCloudStitcher_enableMotionCompensation()

DW_API_PUBLIC dwStatus dwPointCloudStitcher_enableMotionCompensation	(	dwTime_t const	timestamp,
		dwEgomotionConstHandle_t	egomotion,
		dwPointCloudStitcherHandle_t	obj
	)

Enables motion compensation for the stitched point cloud.

Parameters

[in]	timestamp	The reference timestamp to align the point clouds with
[in]	egomotion	Handle to egomotion
[in]	obj	Handle to point cloud stitcher

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT - if provided egomotion or stitcher handle is null

◆ dwPointCloudStitcher_getCUDAStream()

DW_API_PUBLIC dwStatus dwPointCloudStitcher_getCUDAStream	(	cudaStream_t *	stream,
		dwPointCloudStitcherHandle_t	obj
	)

Gets CUDA stream of point cloud stitcher.

Parameters

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

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

◆ dwPointCloudStitcher_initialize()

DW_API_PUBLIC dwStatus dwPointCloudStitcher_initialize	(	dwPointCloudStitcherHandle_t *	obj,
		dwContextHandle_t	ctx
	)

Initializes point cloud stitcher.

Parameters

[out]	obj	Pointer to point cloud stitcher handle
[in]	ctx	Handle to the context

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

◆ dwPointCloudStitcher_process()

DW_API_PUBLIC dwStatus dwPointCloudStitcher_process ( dwPointCloudStitcherHandle_t obj )

Transforms all the input point clouds to a common coordinate.

Parameters

[in] obj Handle to the point cloud stitcher

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT - the memory type of input/output does not match
DW_CALL_NOT_ALLOWED - input list is not bound
DW_OUT_OF_BOUNDS - the number of input points exceeds the output buffer capacity

◆ dwPointCloudStitcher_release()

DW_API_PUBLIC dwStatus dwPointCloudStitcher_release ( dwPointCloudStitcherHandle_t obj )

Releases point cloud stitcher.

Parameters

[in] obj Handle to point cloud stitcher

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

◆ dwPointCloudStitcher_reset()

DW_API_PUBLIC dwStatus dwPointCloudStitcher_reset ( dwPointCloudStitcherHandle_t obj )

Resets point cloud stitcher.

Parameters

[in] obj Handle to point cloud stitcher

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

◆ dwPointCloudStitcher_setCUDAStream()

DW_API_PUBLIC dwStatus dwPointCloudStitcher_setCUDAStream	(	cudaStream_t const	stream,
		dwPointCloudStitcherHandle_t	obj
	)

Sets CUDA stream of point cloud stitcher.

Parameters

[in]	stream	Handle to CUDA stream
[in]	obj	Handle to point cloud stitcher

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

◆ dwPointCloudStitcher_setGlobalTransformation()

DW_API_PUBLIC dwStatus dwPointCloudStitcher_setGlobalTransformation	(	dwTransformation3f const *	tx,
		dwPointCloudStitcherHandle_t	obj
	)

Sets global transformation for the stitched point cloud.

Parameters

[in]	tx	Pointer to the transformation that transforms the stitched point cloud to one common coordinate system. Parameter is optional, can be nullptr. In this case identity transformation will be used.
[in]	obj	Handle to point cloud stitcher

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

Note: The value of provided transformation is copied at the time of this function call. Make sure to update transformation calling the method every time it is modified outside the module.

Detailed Description

Macros

Typedefs

Functions

Macro Definition Documentation

◆ DW_POINTCLOUD_STITCHER_MAX_POINT_CLOUDS

Typedef Documentation

◆ dwPointCloudStitcherHandle_t

Function Documentation

◆ dwPointCloudStitcher_bindInput()

◆ dwPointCloudStitcher_bindInputLidarPointCloud()

◆ dwPointCloudStitcher_bindOutput()

◆ dwPointCloudStitcher_bindOutputLidarPointCloud()

◆ dwPointCloudStitcher_disableMotionCompensation()

◆ dwPointCloudStitcher_enableMotionCompensation()

◆ dwPointCloudStitcher_getCUDAStream()

◆ dwPointCloudStitcher_initialize()

◆ dwPointCloudStitcher_process()

◆ dwPointCloudStitcher_release()

◆ dwPointCloudStitcher_reset()

◆ dwPointCloudStitcher_setCUDAStream()

◆ dwPointCloudStitcher_setGlobalTransformation()