DepthMapCreator.h

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/*
 * SPDX-FileCopyrightText: Copyright (c) 2020-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 * SPDX-License-Identifier: LicenseRef-NvidiaProprietary
 *
 * NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
 * property and proprietary rights in and to this material, related
 * documentation and any modifications thereto. Any use, reproduction,
 * disclosure or distribution of this material and related documentation
 * without an express license agreement from NVIDIA CORPORATION or
 * its affiliates is strictly prohibited.
 */
 
#ifndef DW_POINTCLOUDPROCESSING_DEPTHMAPCREATOR_DEPTHMAPCREATOR_H_
#define DW_POINTCLOUDPROCESSING_DEPTHMAPCREATOR_DEPTHMAPCREATOR_H_
 
#include "DepthMap.h"
 
#include <dw/pointcloudprocessing/pointcloud/PointCloud.h>
#include <dw/sensors/lidar/Lidar.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct dwDepthMapCreatorObject* dwDepthMapCreatorHandle_t;
typedef const struct dwDepthMapCreatorObject* dwConstDepthMapCreatorHandle_t;
 
typedef enum dwDepthMapCreatorProcessPassType {
    DW_DEPTHMAPCREATOR_PROCESS_PASS_TYPE_COMPLETE_SYNC = 0,
 
    DW_DEPTHMAPCREATOR_PROCESS_PASS_TYPE_FIRST_GPU_ASYNC,
 
    DW_DEPTHMAPCREATOR_PROCESS_PASS_TYPE_SECOND_CPU_SYNC,
 
    DW_DEPTHMAPCREATOR_PROCESS_PASS_TYPE_COUNT
} dwDepthMapCreatorProcessPassType;
 
typedef struct
{
    dwDepthMapProperties depthMapProps;
 
    uint32_t maxInputPoints;
 
    dwVector2f horizontalFOV;
 
    dwVector2f verticalFOV;
 
    float32_t const* horizontalAnglesRad;
 
    float32_t const* verticalAnglesRad;
 
    dwVector2f distanceRange;
 
} dwDepthMapCreatorParams;
 
DW_API_PUBLIC
dwStatus dwDepthMapCreator_getDefaultParams(dwDepthMapCreatorParams* const params, dwLidarProperties const* const lidarProps);
 
DW_API_PUBLIC
dwStatus dwDepthMapCreator_initialize(dwDepthMapCreatorHandle_t* const depthMapCreatorHandle,
                                      dwDepthMapCreatorParams const* const params,
                                      dwContextHandle_t ctx);
 
DW_API_PUBLIC
dwStatus dwDepthMapCreator_reset(dwDepthMapCreatorHandle_t depthMapCreatorHandle);
 
DW_API_PUBLIC
dwStatus dwDepthMapCreator_release(dwDepthMapCreatorHandle_t depthMapCreatorHandle);
 
DW_API_PUBLIC
dwStatus dwDepthMapCreator_getCUDAStream(cudaStream_t* stream,
                                         dwConstDepthMapCreatorHandle_t depthMapCreatorHandle);
 
DW_API_PUBLIC
dwStatus dwDepthMapCreator_setCUDAStream(cudaStream_t stream,
                                         dwDepthMapCreatorHandle_t depthMapCreatorHandle);
 
typedef enum {
    DW_DEPTHMAP_CREATOR_PASS_PROCESS_GPU_ASYNC,
    DW_DEPTHMAP_CREATOR_PASS_PROCESS_CPU,
} dwDepthMapCreatorPass;
 
DW_API_PUBLIC
dwStatus dwDepthMapCreator_bindInput(dwPointCloud const* const pointCloud,
                                     dwDepthMapCreatorHandle_t depthMapCreatorHandle);
 
DW_API_PUBLIC
dwStatus dwDepthMapCreator_bindOutputDepthMap(dwDepthMapHandle_t depthMapHandle,
                                              dwDepthMapCreatorHandle_t depthMapCreatorHandle);
 
DW_API_PUBLIC
dwStatus dwDepthMapCreator_bindOutputPointCloud(dwPointCloud* const pointCloud,
                                                dwDepthMapCreatorHandle_t depthMapCreatorHandle);
 
DW_API_PUBLIC
dwStatus dwDepthMapCreator_process(dwDepthMapCreatorProcessPassType const passType, dwDepthMapCreatorHandle_t depthMapCreatorHandle);
 
#ifdef __cplusplus
}
#endif
 
#endif // DW_POINTCLOUDPROCESSING_DEPTHMAPCREATOR_DEPTHMAPCREATOR_H_