PointCloudICP.h

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/*
 * SPDX-FileCopyrightText: Copyright (c) 2018-2024 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_POINTCLOUDICP_H_
#define DW_POINTCLOUDPROCESSING_POINTCLOUDICP_H_
#include <dw/core/context/Context.h>
#include <dw/pointcloudprocessing/pointcloud/PointCloud.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct dwPointCloudICPObject* dwPointCloudICPHandle_t;
 
typedef enum dwPointCloudICPType {
    DW_POINT_CLOUD_ICP_TYPE_DEPTH_MAP
 
} dwPointCloudICPType;
 
typedef struct dwPointCloudICPParams
{
    dwPointCloudICPType icpType;
 
    uint32_t maxPoints;
 
    dwVector2ui depthmapSize;
 
    float32_t angleConvergenceTol;
 
    float32_t distanceConvergenceTol;
 
    uint16_t maxIterations;
 
    bool usePriors;
} dwPointCloudICPParams;
 
typedef bool (*dwPointCloudICPConvergenceCheck)(const dwTransformation3f* prevSrc2Tgt, const dwTransformation3f* newSrc2Tgt, void* userData);
 
typedef struct dwPointCloudICPResultStats
{
    uint16_t actualNumIterations;
    float32_t rmsCost;
    float32_t inlierFraction;
    uint32_t numCorrespondences;
 
} dwPointCloudICPResultStats;
 
DW_API_PUBLIC
dwStatus dwPointCloudICP_initialize(dwPointCloudICPHandle_t* obj,
                                    const dwPointCloudICPParams* params,
                                    dwContextHandle_t ctx);
DW_API_PUBLIC
dwStatus dwPointCloudICP_reset(dwPointCloudICPHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwPointCloudICP_release(dwPointCloudICPHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwPointCloudICP_getDefaultParams(dwPointCloudICPParams* params);
 
DW_API_PUBLIC
dwStatus dwPointCloudICP_getCUDAStream(cudaStream_t* stream,
                                       dwPointCloudICPHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwPointCloudICP_setCUDAStream(cudaStream_t const stream,
                                       dwPointCloudICPHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwPointCloudICP_bindInput(const dwPointCloud* sourcePCD,
                                   const dwPointCloud* targetPCD,
                                   const dwTransformation3f* sourceToTarget,
                                   dwPointCloudICPHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwPointCloudICP_bindOutput(dwTransformation3f* pose,
                                    dwPointCloudICPHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwPointCloudICP_dryrunEstimation(dwPointCloudICPHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwPointCloudICP_process(dwPointCloudICPHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwPointCloudICP_setConvergenceCriteriaCallback(dwPointCloudICPConvergenceCheck callback, void* userData, dwPointCloudICPHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwPointCloudICP_setConvergenceTolerance(float32_t angleTol, float32_t distanceTol, dwPointCloudICPHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwPointCloudICP_setMaxIterations(uint16_t maxIterations, dwPointCloudICPHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwPointCloudICP_getLastResultStats(dwPointCloudICPResultStats* resultStats, dwPointCloudICPHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwPointCloudICP_getMaximumDepthMapSize(uint32_t* maxDepthMapSize);
 
#ifdef __cplusplus
}
#endif
 
#endif // DW_POINTCLOUDPROCESSING_POINTCLOUDICP_H_