NVIDIA DriveOS Linux NSR SDK API Reference
7.0.3.0 Release
Engine.h
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12 
29 #ifndef DW_CALIBRATION_ENGINE_CALIBRATIONENGINE_H_
30 #define DW_CALIBRATION_ENGINE_CALIBRATIONENGINE_H_
31 
32 #include <dw/core/context/Context.h>
33 #include <dw/rig/Rig.h>
34 #include <dw/egomotion/base/Egomotion.h>
35 #include <dw/egomotion/radar/DopplerMotionEstimator.h>
36 #include <dw/imageprocessing/features/FeatureList.h>
37 
38 #include <dw/calibration/engine/common/CalibrationTypes.h>
39 #include <dw/calibration/engine/camera/CameraParams.h>
40 #include <dw/calibration/engine/imu/IMUParams.h>
41 #if !defined(DW_L2_BUILD) && !defined(DW_IS_SAFETY)
42 #include <dw/calibration/engine/vehicle/VehicleParams.h>
43 #include <dw/calibration/engine/lidar/LidarParams.h>
44 #include <dw/calibration/engine/stereo/StereoParams.h>
45 #endif
46 #include <dw/calibration/engine/radar/RadarParams.h>
47 
48 #ifdef __cplusplus
49 extern "C" {
50 #endif
51 
69 DW_API_PUBLIC
70 dwStatus dwCalibrationEngine_initialize(dwCalibrationEngineHandle_t* engine,
71  dwConstRigHandle_t rig,
72  dwContextHandle_t context);
73 
114 DW_API_PUBLIC
115 dwStatus dwCalibrationEngine_initializeCamera(dwCalibrationRoutineHandle_t* routine,
116  uint32_t sensorIndex,
117  const dwCalibrationCameraParams* params,
118  dwEgomotionConstHandle_t egomotion,
119  cudaStream_t stream,
120  dwCalibrationEngineHandle_t engine);
121 
149 DW_API_PUBLIC
150 dwStatus dwCalibrationEngine_initializeIMU(dwCalibrationRoutineHandle_t* routine,
151  const uint32_t imuIndex,
152  const uint32_t canIndex,
153  const dwCalibrationIMUParams* params,
154  dwCalibrationEngineHandle_t engine);
155 
156 #if !defined(DW_L2_BUILD) && !defined(DW_IS_SAFETY)
157 
178 DW_API_PUBLIC
179 dwStatus dwCalibrationEngine_initializeLidar(dwCalibrationRoutineHandle_t* routine,
180  uint32_t lidarIndex,
181  uint32_t canIndex,
182  const dwCalibrationLidarParams* params,
183  cudaStream_t stream,
184  dwCalibrationEngineHandle_t engine);
185 #endif
186 
207 DW_API_PUBLIC
208 dwStatus dwCalibrationEngine_initializeRadar(dwCalibrationRoutineHandle_t* routine,
209  uint32_t radarIndex,
210  uint32_t canIndex,
211  const dwCalibrationRadarParams* params,
212  dwCalibrationEngineHandle_t engine);
213 
214 #if !defined(DW_L2_BUILD) && !defined(DW_IS_SAFETY)
215 
239 DW_API_PUBLIC
240 dwStatus dwCalibrationEngine_initializeStereo(dwCalibrationRoutineHandle_t* routine,
241  uint32_t vehicleSensorIndex,
242  uint32_t leftSensorIndex,
243  uint32_t rightSensorIndex,
244  const dwCalibrationStereoParams* params,
245  cudaStream_t stream,
246  dwCalibrationEngineHandle_t engine);
247 
270 DW_API_PUBLIC
271 DW_DEPRECATED("Vehicle Calibration has been deprecated and will be removed/replaced by the next major release")
272 dwStatus dwCalibrationEngine_initializeVehicle(dwCalibrationRoutineHandle_t* routine,
273  uint32_t sensorIndex,
274  const dwCalibrationVehicleParams* params,
275  dwEgomotionConstHandle_t egoMotion,
276  const dwVehicle* vehicle,
277  dwCalibrationEngineHandle_t engine);
278 #endif
279 
301 DW_API_PUBLIC
302 dwStatus dwCalibrationEngine_dryrunRoutine(dwCalibrationRoutineHandle_t routine,
303  dwCalibrationEngineHandle_t engine);
304 
322 DW_API_PUBLIC
323 dwStatus dwCalibrationEngine_reset(dwCalibrationEngineHandle_t engine);
324 
342 DW_API_PUBLIC
343 dwStatus dwCalibrationEngine_release(dwCalibrationEngineHandle_t engine);
344 
358 DW_API_PUBLIC
359 dwStatus dwCalibrationEngine_startCalibration(dwCalibrationRoutineHandle_t routine,
360  dwCalibrationEngineHandle_t engine);
361 
377 DW_API_PUBLIC
378 dwStatus dwCalibrationEngine_stopCalibration(dwCalibrationRoutineHandle_t routine,
379  dwCalibrationEngineHandle_t engine);
380 
396 DW_API_PUBLIC
397 dwStatus dwCalibrationEngine_resetCalibration(dwCalibrationRoutineHandle_t routine,
398  dwCalibrationEngineHandle_t engine);
399 
417 DW_API_PUBLIC
418 dwStatus dwCalibrationEngine_getCalibrationStatus(dwCalibrationStatus* status,
419  dwConstCalibrationRoutineHandle_t routine,
420  dwConstCalibrationEngineHandle_t engine);
421 
439 DW_API_PUBLIC
440 dwStatus dwCalibrationEngine_getSupportedSignals(dwCalibrationSignal* signals,
441  dwCalibrationRoutineHandle_t routine,
442  dwCalibrationEngineHandle_t engine);
443 
464 DW_API_PUBLIC
465 dwStatus dwCalibrationEngine_getSensorToRigTransformation(dwTransformation3f* sensorToRig,
466  dwCalibrationRoutineHandle_t routine,
467  dwCalibrationEngineHandle_t engine);
468 
490 DW_API_PUBLIC
491 dwStatus dwCalibrationEngine_getSensorToSensorTransformation(dwTransformation3f* sensorToSensor,
492  uint32_t indexA, uint32_t indexB,
493  dwCalibrationRoutineHandle_t routine,
494  dwCalibrationEngineHandle_t engine);
495 
520 DW_API_PUBLIC
521 dwStatus dwCalibrationEngine_getVehicleWheelRadius(float32_t* radius, dwVehicleWheels wheel,
522  dwCalibrationRoutineHandle_t routine,
523  dwCalibrationEngineHandle_t engine);
524 
525 #if !defined(DW_L2_BUILD) && !defined(DW_IS_SAFETY)
526 
543 DW_API_PUBLIC
544 DW_DEPRECATED("Vehicle Calibration has been deprecated and will be removed/replaced by the next major release")
545 dwStatus dwCalibrationEngine_getVehicleSteeringProperties(dwVehicleSteeringProperties* steering,
546  dwCalibrationRoutineHandle_t routine,
547  dwCalibrationEngineHandle_t engine);
548 #endif
549 
574 DW_API_PUBLIC
575 dwStatus dwCalibrationEngine_addFeatureDetections(uint32_t featureCapacity,
576  uint32_t historyCapacity,
577  const uint32_t* d_featureCount,
578  const uint32_t* d_ages,
579  const dwVector2f* d_locationHistory,
580  const dwFeature2DStatus* d_featureStatuses,
581  uint32_t currentTimeIdx,
582  dwTime_t timestamp,
583  uint32_t sensorIndex,
584  dwCalibrationEngineHandle_t engine);
585 
609 DW_API_PUBLIC
610 dwStatus dwCalibrationEngine_addIMUFrame(const dwIMUFrame* imuFrame,
611  uint32_t sensorIndex,
612  dwCalibrationEngineHandle_t engine);
613 
614 #if !defined(DW_L2_BUILD) && !defined(DW_IS_SAFETY)
615 
636 DW_API_PUBLIC
637 dwStatus dwCalibrationEngine_addLidarPointCloud(const dwVector4f* lidarPoints,
638  uint32_t pointCount,
639  dwTime_t timestamp,
640  uint32_t sensorIndex,
641  dwCalibrationEngineHandle_t engine);
642 #endif
643 
644 #if !defined(DW_L2_BUILD) && !defined(DW_IS_SAFETY)
645 
668 DW_API_PUBLIC
669 dwStatus dwCalibrationEngine_addLidarPose(const dwTransformation3f* deltaPoseLidarTimeAToTimeB,
670  const dwTransformation3f* deltaPoseRigTimeAToTimeB,
671  dwTime_t timestampA,
672  dwTime_t timestampB,
673  uint32_t sensorIndex,
674  dwCalibrationEngineHandle_t engine);
675 #endif
676 
694 DW_API_PUBLIC
695 dwStatus dwCalibrationEngine_addRadarDopplerMotion(dwRadarDopplerMotion const* const radarMotion,
696  uint32_t sensorIndex,
697  dwCalibrationEngineHandle_t engine);
698 #if !defined(DW_L2_BUILD) && !defined(DW_IS_SAFETY)
699 
718 DW_API_PUBLIC
719 dwStatus dwCalibrationEngine_addMatches(const dwFeatureHistoryArray* matches,
720  dwTime_t timestamp,
721  uint32_t leftSensorIndex,
722  uint32_t rightSensorIndex,
723  dwCalibrationEngineHandle_t engine);
724 #endif
725 
745 DW_API_PUBLIC
746 dwStatus dwCalibrationEngine_addVehicleIONonSafetyState(dwVehicleIONonSafetyState const* const vioNonSafetyState,
747  uint32_t sensorIndex,
748  dwCalibrationEngineHandle_t engine);
749 
769 DW_API_PUBLIC
770 dwStatus dwCalibrationEngine_addVehicleIOActuationFeedback(dwVehicleIOActuationFeedback const* const vioActuationFeedback,
771  uint32_t sensorIndex,
772  dwCalibrationEngineHandle_t engine);
773 
774 #ifdef __cplusplus
775 }
776 #endif
777 
779 #endif // DW_CALIBRATION_ENGINE_CALIBRATIONENGINE_H_
dwVehicleWheels
dwVehicleWheels
Define index for each of the wheels on a 4 wheeled vehicle.
Definition: Vehicle.h:60
dwCalibrationLidarParams
Calibration parameters for calibrating a lidar sensor this should be added to the dwCalibrationParams...
Definition: LidarParams.h:35
dwCalibrationEngineHandle_t
struct dwCalibrationEngineObject * dwCalibrationEngineHandle_t
Handle representing the calibration engine interface.
Definition: CalibrationTypes.h:50
dwCalibrationEngine_startCalibration
DW_API_PUBLIC dwStatus dwCalibrationEngine_startCalibration(dwCalibrationRoutineHandle_t routine, dwCalibrationEngineHandle_t engine)
Starts a calibration routine associated with a calibration engine.
dwCalibrationEngine_getCalibrationStatus
DW_API_PUBLIC dwStatus dwCalibrationEngine_getCalibrationStatus(dwCalibrationStatus *status, dwConstCalibrationRoutineHandle_t routine, dwConstCalibrationEngineHandle_t engine)
Returns the current status of a calibration routine.
dwVector4f
Defines a four-element single-precision floating point vector.
Definition: MatrixTypes.h:96
dwVehicleSteeringProperties
Steering parameter calibration data.
Definition: VehicleParamsTypes_1.h:27
dwConstRigHandle_t
struct dwRigObject const * dwConstRigHandle_t
Handle representing the const Rig interface.
Definition: Rig.h:58
dwCalibrationEngine_initializeCamera
DW_API_PUBLIC dwStatus dwCalibrationEngine_initializeCamera(dwCalibrationRoutineHandle_t *routine, uint32_t sensorIndex, const dwCalibrationCameraParams *params, dwEgomotionConstHandle_t egomotion, cudaStream_t stream, dwCalibrationEngineHandle_t engine)
Initializes a camera calibration routine designated by the sensor provided to the method.
dwVehicleIONonSafetyState
Non-safety critical RoV state.
Definition: VehicleIOValStructures.h:8792
dwCalibrationStatus
Defines the current status of an individual calibration.
Definition: CalibrationBaseTypes.h:153
dwCalibrationSignal
dwCalibrationSignal
Defines signal types supported by a calibration routine.
Definition: CalibrationBaseTypes.h:79
dwConstCalibrationRoutineHandle_t
struct dwCalibrationRoutineObject const * dwConstCalibrationRoutineHandle_t
Handle representing the const calibration routine interface.
Definition: CalibrationTypes.h:47
dwCalibrationCameraParams
Calibration parameters for calibrating a camera sensor.
Definition: CameraParams.h:72
timestamp
const WFDPipeline const WFDSource const WFDTransition const WFDRect *const const WFDuint64 timestamp
Definition: wfdext.h:61
dwConstCalibrationEngineHandle_t
struct dwCalibrationEngineObject const * dwConstCalibrationEngineHandle_t
Handle representing the const calibration engine interface.
Definition: CalibrationTypes.h:52
dwCalibrationEngine_initialize
DW_API_PUBLIC dwStatus dwCalibrationEngine_initialize(dwCalibrationEngineHandle_t *engine, dwConstRigHandle_t rig, dwContextHandle_t context)
Creates and initializes a Calibration Engine.
dwCalibrationEngine_dryrunRoutine
DW_API_PUBLIC dwStatus dwCalibrationEngine_dryrunRoutine(dwCalibrationRoutineHandle_t routine, dwCalibrationEngineHandle_t engine)
Dryrun the routine estimation GPU to record CUDAGraph.
dwCalibrationEngine_initializeStereo
DW_API_PUBLIC dwStatus dwCalibrationEngine_initializeStereo(dwCalibrationRoutineHandle_t *routine, uint32_t vehicleSensorIndex, uint32_t leftSensorIndex, uint32_t rightSensorIndex, const dwCalibrationStereoParams *params, cudaStream_t stream, dwCalibrationEngineHandle_t engine)
This method initializes a stereo camera pose calibration routine relative to the sensor index of the ...
dwCalibrationEngine_addLidarPose
DW_API_PUBLIC dwStatus dwCalibrationEngine_addLidarPose(const dwTransformation3f *deltaPoseLidarTimeAToTimeB, const dwTransformation3f *deltaPoseRigTimeAToTimeB, dwTime_t timestampA, dwTime_t timestampB, uint32_t sensorIndex, dwCalibrationEngineHandle_t engine)
Adds lidar delta-poses and ego-motion delta poses to the calibration engine.
dwCalibrationEngine_reset
DW_API_PUBLIC dwStatus dwCalibrationEngine_reset(dwCalibrationEngineHandle_t engine)
Resets the Calibration Engine module.
dwTime_t
int64_t dwTime_t
Specifies a timestamp unit, in microseconds.
Definition: BasicTypes.h:54
dwCalibrationEngine_initializeLidar
DW_API_PUBLIC dwStatus dwCalibrationEngine_initializeLidar(dwCalibrationRoutineHandle_t *routine, uint32_t lidarIndex, uint32_t canIndex, const dwCalibrationLidarParams *params, cudaStream_t stream, dwCalibrationEngineHandle_t engine)
Initializes a lidar calibration routine designated by the sensor provided to the method.
float32_t
float float32_t
Specifies POD types.
Definition: BasicTypes.h:41
dwCalibrationEngine_addVehicleIOActuationFeedback
DW_API_PUBLIC dwStatus dwCalibrationEngine_addVehicleIOActuationFeedback(dwVehicleIOActuationFeedback const *const vioActuationFeedback, uint32_t sensorIndex, dwCalibrationEngineHandle_t engine)
Adds dwVehicleIOActuationFeedback to calibration engine.
dwCalibrationEngine_addLidarPointCloud
DW_API_PUBLIC dwStatus dwCalibrationEngine_addLidarPointCloud(const dwVector4f *lidarPoints, uint32_t pointCount, dwTime_t timestamp, uint32_t sensorIndex, dwCalibrationEngineHandle_t engine)
Adds a lidar sweep to the calibration engine.
dwCalibrationEngine_initializeIMU
DW_API_PUBLIC dwStatus dwCalibrationEngine_initializeIMU(dwCalibrationRoutineHandle_t *routine, const uint32_t imuIndex, const uint32_t canIndex, const dwCalibrationIMUParams *params, dwCalibrationEngineHandle_t engine)
Initializes an IMU calibration routine designated by the sensor provided to the method.
dwIMUFrame
This structure contains one frame of data from a IMU sensor.
Definition: IMUTypes.h:396
dwCalibrationEngine_release
DW_API_PUBLIC dwStatus dwCalibrationEngine_release(dwCalibrationEngineHandle_t engine)
Releases the Calibration Engine module.
dwVehicle
DEPRECATED: Properties of a passenger car vehicle.
Definition: Vehicle.h:472
DW_DEPRECATED
#define DW_DEPRECATED(msg)
Definition: Exports.h:50
dwCalibrationEngine_addMatches
DW_API_PUBLIC dwStatus dwCalibrationEngine_addMatches(const dwFeatureHistoryArray *matches, dwTime_t timestamp, uint32_t leftSensorIndex, uint32_t rightSensorIndex, dwCalibrationEngineHandle_t engine)
Adds detected visual feature matches to the calibration engine.
dwCalibrationEngine_getSensorToSensorTransformation
DW_API_PUBLIC dwStatus dwCalibrationEngine_getSensorToSensorTransformation(dwTransformation3f *sensorToSensor, uint32_t indexA, uint32_t indexB, dwCalibrationRoutineHandle_t routine, dwCalibrationEngineHandle_t engine)
Returns the current sensor to sensor transformation of a calibration routine estimating this transfor...
dwCalibrationEngine_resetCalibration
DW_API_PUBLIC dwStatus dwCalibrationEngine_resetCalibration(dwCalibrationRoutineHandle_t routine, dwCalibrationEngineHandle_t engine)
Resets the calibration of a specific calibration routine associated with a calibration engine.
dwFeature2DStatus
dwFeature2DStatus
Defines the feature array used by detector and tracker.
Definition: FeatureList.h:52
dwCalibrationEngine_getVehicleSteeringProperties
DW_API_PUBLIC dwStatus dwCalibrationEngine_getVehicleSteeringProperties(dwVehicleSteeringProperties *steering, dwCalibrationRoutineHandle_t routine, dwCalibrationEngineHandle_t engine)
Get vehicle parameter calibration result.
dwContextHandle_t
struct dwContextObject * dwContextHandle_t
Context handle.
Definition: Context.h:74
dwRadarDopplerMotion
Defines the radar motion.
Definition: DopplerMotionEstimatorTypes.h:41
dwCalibrationVehicleParams
Vehicle steering calibration-related parameters.
Definition: VehicleParams.h:34
dwVehicleIOActuationFeedback
Feedback from actuation.
Definition: VehicleIOValStructures.h:7205
dwStatus
dwStatus
Status definition.
Definition: ErrorDefs.h:27
dwCalibrationRadarParams
Calibration parameters for calibrating a radar sensor this should be added to the dwCalibrationParams...
Definition: RadarParams.h:53
dwFeatureHistoryArray
Holds pointers to the data exposed by a feature2d list.
Definition: FeatureList.h:105
dwTransformation3f
Specifies a 3D rigid transformation.
Definition: MatrixTypes.h:226
dwCalibrationEngine_initializeVehicle
DW_API_PUBLIC dwStatus dwCalibrationEngine_initializeVehicle(dwCalibrationRoutineHandle_t *routine, uint32_t sensorIndex, const dwCalibrationVehicleParams *params, dwEgomotionConstHandle_t egoMotion, const dwVehicle *vehicle, dwCalibrationEngineHandle_t engine)
Initialize vehicle parameter calibration.
params
DW_API_PUBLIC dwPointCloudRangeImageCreatorParams const *const params
Definition: PointCloudRangeImageCreator.h:292
dwCalibrationEngine_addFeatureDetections
DW_API_PUBLIC dwStatus dwCalibrationEngine_addFeatureDetections(uint32_t featureCapacity, uint32_t historyCapacity, const uint32_t *d_featureCount, const uint32_t *d_ages, const dwVector2f *d_locationHistory, const dwFeature2DStatus *d_featureStatuses, uint32_t currentTimeIdx, dwTime_t timestamp, uint32_t sensorIndex, dwCalibrationEngineHandle_t engine)
Adds detected visual features to the calibration engine.
dwCalibrationEngine_addRadarDopplerMotion
DW_API_PUBLIC dwStatus dwCalibrationEngine_addRadarDopplerMotion(dwRadarDopplerMotion const *const radarMotion, uint32_t sensorIndex, dwCalibrationEngineHandle_t engine)
Adds Radar Doppler motion to the calibration engine.
DW_API_PUBLIC
#define DW_API_PUBLIC
Definition: Exports.h:38
dwCalibrationIMUParams
Calibration parameters for calibrating a IMU sensor this should be added to the dwCalibrationParams p...
Definition: IMUParams.h:34
dwCalibrationEngine_stopCalibration
DW_API_PUBLIC dwStatus dwCalibrationEngine_stopCalibration(dwCalibrationRoutineHandle_t routine, dwCalibrationEngineHandle_t engine)
Stops a calibration routine associated with a calibration engine.
dwCalibrationEngine_addIMUFrame
DW_API_PUBLIC dwStatus dwCalibrationEngine_addIMUFrame(const dwIMUFrame *imuFrame, uint32_t sensorIndex, dwCalibrationEngineHandle_t engine)
Adds an IMU frame from an IMU sensor to the calibration engine.
dwEgomotionConstHandle_t
struct dwEgomotionObject const * dwEgomotionConstHandle_t
Const Egomotion Handle.
Definition: Egomotion.h:72
dwCalibrationEngine_addVehicleIONonSafetyState
DW_API_PUBLIC dwStatus dwCalibrationEngine_addVehicleIONonSafetyState(dwVehicleIONonSafetyState const *const vioNonSafetyState, uint32_t sensorIndex, dwCalibrationEngineHandle_t engine)
Adds dwVehicleIONonSafetyState to calibration engine.
dwCalibrationRoutineHandle_t
struct dwCalibrationRoutineObject * dwCalibrationRoutineHandle_t
Handle representing the calibration routine interface.
Definition: CalibrationTypes.h:45
dwCalibrationEngine_initializeRadar
DW_API_PUBLIC dwStatus dwCalibrationEngine_initializeRadar(dwCalibrationRoutineHandle_t *routine, uint32_t radarIndex, uint32_t canIndex, const dwCalibrationRadarParams *params, dwCalibrationEngineHandle_t engine)
Initializes a radar calibration routine designated by the sensor provided to the method.
dwCalibrationEngine_getVehicleWheelRadius
DW_API_PUBLIC dwStatus dwCalibrationEngine_getVehicleWheelRadius(float32_t *radius, dwVehicleWheels wheel, dwCalibrationRoutineHandle_t routine, dwCalibrationEngineHandle_t engine)
Get currently estimated wheel radius of a vehicle.
dwCalibrationEngine_getSupportedSignals
DW_API_PUBLIC dwStatus dwCalibrationEngine_getSupportedSignals(dwCalibrationSignal *signals, dwCalibrationRoutineHandle_t routine, dwCalibrationEngineHandle_t engine)
Query a calibration routine for the calibration type and enabled calibration signal components.
dwCalibrationEngine_getSensorToRigTransformation
DW_API_PUBLIC dwStatus dwCalibrationEngine_getSensorToRigTransformation(dwTransformation3f *sensorToRig, dwCalibrationRoutineHandle_t routine, dwCalibrationEngineHandle_t engine)
Returns the current sensor to rig transformation of a calibration routine estimating this transformat...
dwCalibrationStereoParams
Calibration parameters for calibrating a stereo sensor.
Definition: StereoParams.h:36
dwVector2f
Defines a two-element single-precision floating-point vector.
Definition: MatrixTypes.h:30