MotionCompensator.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_MOTIONCOMPENSATOR_MOTIONCOMPENSATOR_H_
#define DW_POINTCLOUDPROCESSING_MOTIONCOMPENSATOR_MOTIONCOMPENSATOR_H_
 
#include <dw/pointcloudprocessing/lidarpointcloud/LidarPointCloud.h>
#include <dw/egomotion/base/EgomotionState.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct dwMotionCompensatorObject* dwMotionCompensatorHandle_t;
typedef struct dwMotionCompensatorObject const* dwMotionCompensatorConstHandle_t;
 
typedef enum {
    DW_PC_MOTION_COMPENSATOR_INTERPOLATION_LINEAR = 0,
 
} dwMotionCompensatorInterpolationStrategy;
 
typedef struct
{
    bool enableCuda; 
 
    uint32_t maxPointCloudSize; 
 
    dwMotionCompensatorInterpolationStrategy interpolationStrategy; 
 
    uint32_t motionModelResolution; 
 
    bool outputInRigCoordinates; 
 
    dwTransformation3f pointCloudToRig; 
 
} dwMotionCompensatorParams;
 
DW_API_PUBLIC
dwStatus dwMotionCompensator_getDefaultParams(dwMotionCompensatorParams* params, dwLidarProperties const* lidarProps);
 
DW_API_PUBLIC
dwStatus dwMotionCompensator_initialize(dwMotionCompensatorHandle_t* obj,
                                        dwMotionCompensatorParams const* params,
                                        dwContextHandle_t ctx);
 
DW_API_PUBLIC
dwStatus dwMotionCompensator_reset(dwMotionCompensatorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwMotionCompensator_release(dwMotionCompensatorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwMotionCompensator_setCUDAStream(const cudaStream_t stream,
                                           dwMotionCompensatorHandle_t obj);
DW_API_PUBLIC
dwStatus dwMotionCompensator_getCUDAStream(cudaStream_t* stream,
                                           dwMotionCompensatorConstHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwMotionCompensator_bindEgomotionState(dwConstEgomotionStateHandle_t motionState,
                                                dwMotionCompensatorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwMotionCompensator_setTransform(dwTransformation3f const* transform,
                                          dwMotionCompensatorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwMotionCompensator_setReferenceTimestamp(dwTime_t const timestamp,
                                                   dwMotionCompensatorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwMotionCompensator_bindInput(dwPointCloud const* pointCloud,
                                       uint32_t const timestampChannelIndex,
                                       dwMotionCompensatorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwMotionCompensator_bindInputLidarPointCloud(dwLidarPointCloud const* pointCloud,
                                                      dwMotionCompensatorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwMotionCompensator_bindOutput(dwPointCloud* pointCloud,
                                        dwMotionCompensatorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwMotionCompensator_bindOutputLidarPointCloud(dwLidarPointCloud* pointCloud,
                                                       dwMotionCompensatorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwMotionCompensator_process(dwMotionCompensatorHandle_t obj);
 
#ifdef __cplusplus
}
#endif
 
#endif // DW_POINTCLOUDPROCESSING_MOTIONCOMPENSATOR_MOTIONCOMPENSATOR_H_