PointCloudICP.h File Reference

Detailed Description

NVIDIA DriveWorks API: Point Cloud ICP

Description: This file defines API of Point Cloud ICP module.

Definition in file PointCloudICP.h.

Go to the source code of this file.

Data Structures
struct	dwPointCloudICPParams
	Defines point cloud icp parameter. More...
struct	dwPointCloudICPResultStats
	Resulting statistics about the latest ICP run. More...

Typedefs
typedef struct dwPointCloudICPObject *	dwPointCloudICPHandle_t
typedef enum dwPointCloudICPType	dwPointCloudICPType
	Defines a type of the Iterative Closest Point (ICP) algorithm. More...
typedef struct dwPointCloudICPParams	dwPointCloudICPParams
	Defines point cloud icp parameter. More...
typedef bool(*	dwPointCloudICPConvergenceCheck) (const dwTransformation3f *prevSrc2Tgt, const dwTransformation3f *newSrc2Tgt, void *userData)
	Callback function to be executed by ICP module allowing user to overwrite default convergence criteria method. More...
typedef struct dwPointCloudICPResultStats	dwPointCloudICPResultStats
	Resulting statistics about the latest ICP run. More...

Enumerations
enum	dwPointCloudICPType { DW_POINT_CLOUD_ICP_TYPE_DEPTH_MAP }
	Defines a type of the Iterative Closest Point (ICP) algorithm. More...

Functions
DW_API_PUBLIC dwStatus	dwPointCloudICP_initialize (dwPointCloudICPHandle_t *obj, const dwPointCloudICPParams *params, dwContextHandle_t ctx)
	Initializes point cloud icp. More...
DW_API_PUBLIC dwStatus	dwPointCloudICP_reset (dwPointCloudICPHandle_t obj)
	Resets pointers to the source, target point clouds and an output pose to a null pointer value. More...
DW_API_PUBLIC dwStatus	dwPointCloudICP_release (dwPointCloudICPHandle_t obj)
	Releases a handle of a point cloud icp created using 'dwPointCloudICP_initialize'. More...
DW_API_PUBLIC dwStatus	dwPointCloudICP_getDefaultParams (dwPointCloudICPParams *params)
	Gets default values of dwPointCloudICPParams object. More...
DW_API_PUBLIC dwStatus	dwPointCloudICP_getCUDAStream (cudaStream_t *stream, dwPointCloudICPHandle_t obj)
	Gets CUDA stream of point cloud icp. More...
DW_API_PUBLIC dwStatus	dwPointCloudICP_setCUDAStream (cudaStream_t const stream, dwPointCloudICPHandle_t obj)
	Sets CUDA stream of point cloud icp. More...
DW_API_PUBLIC dwStatus	dwPointCloudICP_bindInput (const dwPointCloud *sourcePCD, const dwPointCloud *targetPCD, const dwTransformation3f *sourceToTarget, dwPointCloudICPHandle_t obj)
	Binds input buffers of a source and a target point clouds as well as a buffer with an initial transformation. More...
DW_API_PUBLIC dwStatus	dwPointCloudICP_bindOutput (dwTransformation3f *pose, dwPointCloudICPHandle_t obj)
	Binds an output buffer to the resulting transformation between a source and a target point clouds. More...
DW_API_PUBLIC dwStatus	dwPointCloudICP_dryrunEstimation (dwPointCloudICPHandle_t obj)
	Dryrun the point cloud estimation on GPU to record CUDAGraph. More...
DW_API_PUBLIC dwStatus	dwPointCloudICP_process (dwPointCloudICPHandle_t obj)
	Estimates the transformation aligns two PointClouds. More...
DW_API_PUBLIC dwStatus	dwPointCloudICP_setConvergenceCriteriaCallback (dwPointCloudICPConvergenceCheck callback, void *userData, dwPointCloudICPHandle_t obj)
	Allows to set a user-defined callback to be executed for ICP convergence test. More...
DW_API_PUBLIC dwStatus	dwPointCloudICP_setConvergenceTolerance (float32_t angleTol, float32_t distanceTol, dwPointCloudICPHandle_t obj)
	Set tolerances used by the default ICP convergence criteria method. More...
DW_API_PUBLIC dwStatus	dwPointCloudICP_setMaxIterations (uint16_t maxIterations, dwPointCloudICPHandle_t obj)
	Set maximum number of iterations which need to be executed. More...
DW_API_PUBLIC dwStatus	dwPointCloudICP_getLastResultStats (dwPointCloudICPResultStats *resultStats, dwPointCloudICPHandle_t obj)
	Get statistics about latest point cloud ICP run, returns the costs for last pose (see a description of 'dwPointCloudICPResultStats' for details) More...
DW_API_PUBLIC dwStatus	dwPointCloudICP_getMaximumDepthMapSize (uint32_t *maxDepthMapSize)
	Get the maximum allowed size of the depth map in number of points supported by the ICP implementation. More...