PointCloudAssembler.h

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/*
 * SPDX-FileCopyrightText: Copyright (c) 2021-2025 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_ASSEMBLER_POINTCLOUDASSEMBLER_H_
#define DW_POINTCLOUDPROCESSING_ASSEMBLER_POINTCLOUDASSEMBLER_H_
 
#include <dw/pointcloudprocessing/lidarpointcloud/LidarPointCloud.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct dwPointCloudAssemblerObject* dwPointCloudAssemblerHandle_t;
typedef struct dwPointCloudAssemblerObject const* dwPointCloudAssemblerConstHandle_t;
 
typedef struct
{
    bool enableCuda;
 
    dwLidarPointCloudMapping mapping;
 
} dwPointCloudAssemblerParams;
 
DW_API_PUBLIC
dwStatus dwPointCloudAssembler_getDefaultParams(dwPointCloudAssemblerParams* const params,
                                                dwLidarProperties const* const lidarProperties);
 
DW_API_PUBLIC
dwStatus dwPointCloudAssembler_initialize(dwPointCloudAssemblerHandle_t* const obj,
                                          dwPointCloudAssemblerParams const* const params,
                                          dwLidarProperties const* const lidarProperties,
                                          dwContextHandle_t const ctx);
DW_API_PUBLIC
dwStatus dwPointCloudAssembler_reset(dwPointCloudAssemblerHandle_t const obj);
 
DW_API_PUBLIC
dwStatus dwPointCloudAssembler_release(dwPointCloudAssemblerHandle_t const obj);
 
DW_API_PUBLIC
dwStatus dwPointCloudAssembler_setCUDAStream(cudaStream_t const stream,
                                             dwPointCloudAssemblerHandle_t const obj);
DW_API_PUBLIC
dwStatus dwPointCloudAssembler_getCUDAStream(cudaStream_t* const stream,
                                             dwPointCloudAssemblerConstHandle_t const obj);
 
DW_API_PUBLIC
dwStatus dwPointCloudAssembler_bindOutput(dwPointCloud* const pointCloud,
                                          dwPointCloudAssemblerHandle_t const obj);
 
DW_API_PUBLIC
dwStatus dwPointCloudAssembler_bindLidarPointCloud(dwLidarPointCloud* const pointCloud,
                                                   dwPointCloudAssemblerHandle_t const obj);
 
DW_API_PUBLIC
dwStatus dwPointCloudAssembler_addLidarPacket(dwLidarDecodedPacket const* const packet,
                                              dwPointCloudAssemblerHandle_t const obj);
 
DW_API_PUBLIC
dwStatus dwPointCloudAssembler_isReady(bool* const isReady, dwPointCloudAssemblerConstHandle_t const obj);
 
DW_API_PUBLIC
dwStatus dwPointCloudAssembler_process(dwPointCloudAssemblerHandle_t const obj);
 
#ifdef __cplusplus
}
#endif
 
#endif // DW_POINTCLOUDPROCESSING_ASSEMBLER_POINTCLOUDASSEMBLER_H_