LidarPointCloud.h

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/*
 * SPDX-FileCopyrightText: Copyright (c) 2022-2024 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_LIDARPOINTCLOUD_LIDARPOINTCLOUD_H_
#define DW_POINTCLOUDPROCESSING_LIDARPOINTCLOUD_LIDARPOINTCLOUD_H_
 
#include <dw/pointcloudprocessing/pointcloud/PointCloud.h>
#include <dw/sensors/lidar/Lidar.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef enum {
    DW_POINTCLOUD_REFERENCE_FRAME_SENSOR = 0, 
    DW_POINTCLOUD_REFERENCE_FRAME_RIG    = 1, 
    DW_POINTCLOUD_REFERENCE_FRAME_CUSTOM = 2  
} dwPointCloudReferenceFrame;
 
typedef struct
{
    bool compensated;               
    dwTime_t compensationTimestamp; 
} dwLidarMotionCompensationInfo;
 
typedef struct
{
    uint32_t numLayers;
    dwLidarReturnType layerType[DW_POINT_CLOUD_MAX_LAYERS];
 
    uint32_t numAuxChannels;
    dwLidarAuxDataType auxType[DW_POINT_CLOUD_MAX_AUX_CHANNELS];
} dwLidarPointCloudMapping;
 
#define DW_LIDAR_POINT_CLOUD_USER_DATA_SIZE 8
 
typedef struct dwLidarPointCloud
{
    uint32_t userData[DW_LIDAR_POINT_CLOUD_USER_DATA_SIZE];
    dwPointCloud pointCloud;
    dwLidarPointCloudMapping mapping;
    dwPointCloudReferenceFrame coordinateFrame;
    dwLidarMotionCompensationInfo motionCompensation;
} dwLidarPointCloud;
 
DW_API_PUBLIC
dwStatus dwLidarPointCloud_create(dwLidarPointCloud* lidarPointCloud,
                                  dwPointCloudFormat const format,
                                  dwMemoryType const memoryType,
                                  uint32_t const maxPointsPerReturn,
                                  dwLidarPointCloudMapping const* mapping);
 
DW_API_PUBLIC
dwStatus dwLidarPointCloud_destroy(dwLidarPointCloud* lidarPointCloud);
 
DW_API_PUBLIC
dwStatus dwLidarPointCloud_getLidarPointStride(uint32_t* size, dwPointCloudFormat const format);
 
#ifdef __cplusplus
}
#endif
 
#endif // DW_POINTCLOUDPROCESSING_LIDARPOINTCLOUD_LIDARPOINTCLOUD_H_