PointCloudPlaneExtractor.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_POINTCLOUDPLANEEXTRACTOR_H_
#define DW_POINTCLOUDPROCESSING_POINTCLOUDPLANEEXTRACTOR_H_
 
#include <dw/core/base/Types.h>
#include <dw/core/context/Context.h>
#include <dw/pointcloudprocessing/pointcloud/PointCloud.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct dwPointCloudPlaneExtractorObject* dwPointCloudPlaneExtractorHandle_t;
 
typedef struct
{
    uint32_t maxPointCount;      
    dwOrientedBoundingBox3f box; 
} dwPlaneExtractorBoxFilterParams;
 
typedef struct
{
    uint32_t maxInputPointCount;                     
    uint32_t ransacIterationCount;                   
    uint32_t optimizerIterationCount;                
    float32_t minInlierFraction;                     
    float32_t maxInlierDistance;                     
    dwMatrix3f rotation;                             
    bool cudaPipelineEnabled;                        
    dwPlaneExtractorBoxFilterParams boxFilterParams; 
} dwPointCloudPlaneExtractorParams;
 
typedef struct
{
    dwTransformation3f transformation; 
    dwVector3f normal;                 
    float32_t offset;                  
    bool valid;                        
} dwPointCloudExtractedPlane;
 
DW_API_PUBLIC
dwStatus dwPCPlaneExtractor_initialize(dwPointCloudPlaneExtractorHandle_t* const obj,
                                       dwPointCloudPlaneExtractorParams const* const params,
                                       dwContextHandle_t const ctx);
 
DW_API_PUBLIC
dwStatus dwPCPlaneExtractor_reset(dwPointCloudPlaneExtractorHandle_t const obj);
 
DW_API_PUBLIC
dwStatus dwPCPlaneExtractor_release(dwPointCloudPlaneExtractorHandle_t const obj);
 
DW_API_PUBLIC
dwStatus dwPCPlaneExtractor_getDefaultParameters(dwPointCloudPlaneExtractorParams* const params);
 
DW_API_PUBLIC
dwStatus dwPCPlaneExtractor_bindInput(dwPointCloud const* const pointCloud,
                                      dwPointCloudPlaneExtractorHandle_t const obj);
DW_API_PUBLIC
dwStatus dwPCPlaneExtractor_getCUDAStream(cudaStream_t* const stream,
                                          dwPointCloudPlaneExtractorHandle_t const obj);
 
DW_API_PUBLIC
dwStatus dwPCPlaneExtractor_setCUDAStream(cudaStream_t const stream,
                                          dwPointCloudPlaneExtractorHandle_t const obj);
 
DW_API_PUBLIC
dwStatus dwPCPlaneExtractor_bindOutput(dwPointCloud* const inliers,
                                       dwPointCloud* const outliers,
                                       dwPointCloudExtractedPlane* const outputPlane,
                                       dwPointCloudPlaneExtractorHandle_t const obj);
 
DW_API_PUBLIC
dwStatus dwPCPlaneExtractor_process(dwPointCloudPlaneExtractorHandle_t const obj);
 
// DEPRECATED API FUNCTIONS
 
DW_API_PUBLIC
DW_DEPRECATED("dwPointCloudPlaneExtractor_initialize() is renamed / deprecated and will be removed in the next major release,"
              " use dwPCPlaneExtractor_initialize() instead")
// coverity[misra_c_2012_rule_5_1_violation] Deprecated API
dwStatus dwPointCloudPlaneExtractor_initialize(dwPointCloudPlaneExtractorHandle_t* const obj,
                                               dwPointCloudPlaneExtractorParams const* const params,
                                               dwContextHandle_t const ctx);
 
DW_API_PUBLIC
DW_DEPRECATED("dwPointCloudPlaneExtractor_reset() is renamed / deprecated and will be removed in the next major release,"
              " use dwPCPlaneExtractor_reset() instead")
// coverity[misra_c_2012_rule_5_1_violation] Deprecated API
dwStatus dwPointCloudPlaneExtractor_reset(dwPointCloudPlaneExtractorHandle_t const obj);
 
DW_API_PUBLIC
DW_DEPRECATED("dwPointCloudPlaneExtractor_release() is renamed / deprecated and will be removed in the next major release,"
              " use dwPCPlaneExtractor_release() instead")
// coverity[misra_c_2012_rule_5_1_violation] Deprecated API
dwStatus dwPointCloudPlaneExtractor_release(dwPointCloudPlaneExtractorHandle_t const obj);
 
DW_API_PUBLIC
DW_DEPRECATED("dwPointCloudPlaneExtractor_getDefaultParameters() is renamed / deprecated and will be removed in the next major release,"
              " use dwPCPlaneExtractor_getDefaultParameters() instead")
// coverity[misra_c_2012_rule_5_1_violation] Deprecated API
dwStatus dwPointCloudPlaneExtractor_getDefaultParameters(dwPointCloudPlaneExtractorParams* const params);
 
DW_API_PUBLIC
DW_DEPRECATED("dwPointCloudPlaneExtractor_bindInput() is renamed / deprecated and will be removed in the next major release,"
              " use dwPCPlaneExtractor_bindInput() instead")
// coverity[misra_c_2012_rule_5_1_violation] Deprecated API
dwStatus dwPointCloudPlaneExtractor_bindInput(dwPointCloud const* const pointCloud,
                                              dwPointCloudPlaneExtractorHandle_t const obj);
DW_API_PUBLIC
DW_DEPRECATED("dwPointCloudPlaneExtractor_getCUDAStream() is renamed / deprecated and will be removed in the next major release,"
              " use dwPCPlaneExtractor_getCUDAStream() instead")
// coverity[misra_c_2012_rule_5_1_violation] Deprecated API
dwStatus dwPointCloudPlaneExtractor_getCUDAStream(cudaStream_t* const stream,
                                                  dwPointCloudPlaneExtractorHandle_t const obj);
 
DW_API_PUBLIC
DW_DEPRECATED("dwPointCloudPlaneExtractor_setCUDAStream() is renamed / deprecated and will be removed in the next major release,"
              " use dwPCPlaneExtractor_setCUDAStream() instead")
// coverity[misra_c_2012_rule_5_1_violation] Deprecated API
dwStatus dwPointCloudPlaneExtractor_setCUDAStream(cudaStream_t const stream,
                                                  dwPointCloudPlaneExtractorHandle_t const obj);
 
DW_API_PUBLIC
DW_DEPRECATED("dwPointCloudPlaneExtractor_bindOutput() is renamed / deprecated and will be removed in the next major release,"
              " use dwPCPlaneExtractor_bindOutput() instead")
// coverity[misra_c_2012_rule_5_1_violation] Deprecated API
dwStatus dwPointCloudPlaneExtractor_bindOutput(dwPointCloud* const inliers,
                                               dwPointCloud* const outliers,
                                               dwPointCloudExtractedPlane* const outputPlane,
                                               dwPointCloudPlaneExtractorHandle_t const obj);
 
DW_API_PUBLIC
DW_DEPRECATED("dwPointCloudPlaneExtractor_process() is renamed / deprecated and will be removed in the next major release,"
              " use dwPCPlaneExtractor_process() instead")
// coverity[misra_c_2012_rule_5_1_violation] Deprecated API
dwStatus dwPointCloudPlaneExtractor_process(dwPointCloudPlaneExtractorHandle_t const obj);
 
#ifdef __cplusplus
}
#endif
 
#endif // DW_POINTCLOUDPROCESSING_POINTCLOUDPLANEEXTRACTOR_H_