NVIDIA DriveOS Linux NSR SDK API Reference
7.0.3.0 Release
PointCloudRangeImageCreator.h
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12 
29 #ifndef DW_POINTCLOUDPROCESSING_POINTCLOUDRANGEIMAGECREATOR_H_
30 #define DW_POINTCLOUDPROCESSING_POINTCLOUDRANGEIMAGECREATOR_H_
31 
32 #include <dw/core/base/Types.h>
33 #include <dw/core/context/Context.h>
34 #include <dw/pointcloudprocessing/pointcloud/PointCloud.h>
35 #include <dw/image/Image.h>
36 
37 #ifdef __cplusplus
38 extern "C" {
39 #endif
40 
41 typedef struct dwPointCloudRangeImageCreatorObject* dwPointCloudRangeImageCreatorHandle_t;
42 typedef const struct dwPointCloudRangeImageCreatorObject* dwConstPointCloudRangeImageCreatorHandle_t;
43 
45 typedef enum {
46  DW_POINT_CLOUD_IMAGE_TYPE_DISTANCE = 0,
47  DW_POINT_CLOUD_IMAGE_TYPE_INTENSITY = 1,
48  DW_POINT_CLOUD_IMAGE_TYPE_2D_GRID = 2,
49 } dwPointCloudRangeImageType;
50 
54 typedef struct
55 {
56  float32_t farDist;
57  float32_t nearDist;
58 
59  float32_t minElevationRadians;
60  float32_t maxElevationRadians;
61  float32_t minAzimuthRadians;
62  float32_t maxAzimuthRadians;
63 
64  dwOrientedBoundingBox3f orientedBoundingBox;
65 } dwPointCloudRangeImageClippingParams;
66 
70 typedef struct
71 {
72  dwMemoryType memoryType;
73  uint32_t maxInputPoints;
74  uint32_t width;
75  uint32_t height;
76  dwPointCloudRangeImageType type;
77  dwTransformation3f transformation;
78  dwPointCloudRangeImageClippingParams clippingParams;
79 } dwPointCloudRangeImageCreatorParams;
80 
96 DW_API_PUBLIC
97 dwStatus dwPCRangeImageCreator_initialize(dwPointCloudRangeImageCreatorHandle_t* const obj,
98  dwPointCloudRangeImageCreatorParams const* const params,
99  dwContextHandle_t const ctx);
100 
113 DW_API_PUBLIC
114 dwStatus dwPCRangeImageCreator_reset(dwPointCloudRangeImageCreatorHandle_t const obj);
115 
128 DW_API_PUBLIC
129 dwStatus dwPCRangeImageCreator_release(dwPointCloudRangeImageCreatorHandle_t const obj);
130 
143 DW_API_PUBLIC
144 dwStatus dwPCRangeImageCreator_getDefaultParams(dwPointCloudRangeImageCreatorParams* const params);
145 
160 DW_API_PUBLIC
161 dwStatus dwPCRangeImageCreator_getCUDAStream(cudaStream_t* const stream,
162  dwConstPointCloudRangeImageCreatorHandle_t const obj);
163 
177 DW_API_PUBLIC
178 dwStatus dwPCRangeImageCreator_setCUDAStream(cudaStream_t const stream,
179  dwPointCloudRangeImageCreatorHandle_t const obj);
180 
195 DW_API_PUBLIC
196 dwStatus dwPCRangeImageCreator_getImageProperties(dwImageProperties* const imageProperties,
197  dwConstPointCloudRangeImageCreatorHandle_t const obj);
198 
213 DW_API_PUBLIC
214 dwStatus dwPCRangeImageCreator_bindInput(dwPointCloud const* const pointCloud,
215  dwPointCloudRangeImageCreatorHandle_t const obj);
231 DW_API_PUBLIC
232 dwStatus dwPCRangeImageCreator_bindOutput(dwImageHandle_t const image,
233  dwPointCloudRangeImageCreatorHandle_t const obj);
252 DW_API_PUBLIC
253 dwStatus dwPCRangeImageCreator_bindPointCloudOutput(dwPointCloud* const pointCloud,
254  dwPointCloudRangeImageCreatorHandle_t const obj);
255 
270 DW_API_PUBLIC
271 dwStatus dwPCRangeImageCreator_process(dwPointCloudRangeImageCreatorHandle_t const obj);
272 
274 // DEPRECATED API FUNCTIONS
275 
287 DW_API_PUBLIC
288 DW_DEPRECATED("dwPointCloudRangeImageCreator_initialize() is renamed / deprecated and will be removed in the next major release,"
289  " use dwPCRangeImageCreator_initialize() instead")
290 // coverity[misra_c_2012_rule_5_1_violation] Deprecated API
291 dwStatus dwPointCloudRangeImageCreator_initialize(dwPointCloudRangeImageCreatorHandle_t* const obj,
292  dwPointCloudRangeImageCreatorParams const* const params,
293  dwContextHandle_t const ctx);
294 
303 DW_API_PUBLIC
304 DW_DEPRECATED("dwPointCloudRangeImageCreator_reset() is renamed / deprecated and will be removed in the next major release,"
305  " use dwPCRangeImageCreator_reset() instead")
306 // coverity[misra_c_2012_rule_5_1_violation] Deprecated API
307 dwStatus dwPointCloudRangeImageCreator_reset(dwPointCloudRangeImageCreatorHandle_t const obj);
308 
317 DW_API_PUBLIC
318 DW_DEPRECATED("dwPointCloudRangeImageCreator_release() is renamed / deprecated and will be removed in the next major release,"
319  " use dwPCRangeImageCreator_release() instead")
320 // coverity[misra_c_2012_rule_5_1_violation] Deprecated API
321 dwStatus dwPointCloudRangeImageCreator_release(dwPointCloudRangeImageCreatorHandle_t const obj);
322 
331 DW_API_PUBLIC
332 DW_DEPRECATED("dwPointCloudRangeImageCreator_getDefaultParams() is renamed / deprecated and will be removed in the next major release,"
333  " use dwPCRangeImageCreator_getDefaultParams() instead")
334 // coverity[misra_c_2012_rule_5_1_violation] Deprecated API
335 dwStatus dwPointCloudRangeImageCreator_getDefaultParams(dwPointCloudRangeImageCreatorParams* const params);
336 
347 DW_API_PUBLIC
348 DW_DEPRECATED("dwPointCloudRangeImageCreator_getCUDAStream() is renamed / deprecated and will be removed in the next major release,"
349  " use dwPCRangeImageCreator_getCUDAStream() instead")
350 // coverity[misra_c_2012_rule_5_1_violation] Deprecated API
351 dwStatus dwPointCloudRangeImageCreator_getCUDAStream(cudaStream_t* const stream,
352  dwConstPointCloudRangeImageCreatorHandle_t const obj);
353 
363 DW_API_PUBLIC
364 DW_DEPRECATED("dwPointCloudRangeImageCreator_setCUDAStream() is renamed / deprecated and will be removed in the next major release,"
365  " use dwPCRangeImageCreator_setCUDAStream() instead")
366 // coverity[misra_c_2012_rule_5_1_violation] Deprecated API
367 dwStatus dwPointCloudRangeImageCreator_setCUDAStream(cudaStream_t const stream,
368  dwPointCloudRangeImageCreatorHandle_t const obj);
369 
380 DW_API_PUBLIC
381 DW_DEPRECATED("dwPointCloudRangeImageCreator_getImageProperties() is renamed / deprecated and will be removed in the next major release,"
382  " use dwPCRangeImageCreator_getImageProperties() instead")
383 // coverity[misra_c_2012_rule_5_1_violation] Deprecated API
384 dwStatus dwPointCloudRangeImageCreator_getImageProperties(dwImageProperties* const imageProperties,
385  dwConstPointCloudRangeImageCreatorHandle_t const obj);
386 
397 DW_API_PUBLIC
398 DW_DEPRECATED("dwPointCloudRangeImageCreator_bindInput() is renamed / deprecated and will be removed in the next major release,"
399  " use dwPCRangeImageCreator_bindInput() instead")
400 // coverity[misra_c_2012_rule_5_1_violation] Deprecated API
401 dwStatus dwPointCloudRangeImageCreator_bindInput(dwPointCloud const* const pointCloud,
402  dwPointCloudRangeImageCreatorHandle_t const obj);
414 DW_API_PUBLIC
415 DW_DEPRECATED("dwPointCloudRangeImageCreator_bindOutput() is renamed / deprecated and will be removed in the next major release,"
416  " use dwPCRangeImageCreator_bindOutput() instead")
417 // coverity[misra_c_2012_rule_5_1_violation] Deprecated API
418 dwStatus dwPointCloudRangeImageCreator_bindOutput(dwImageHandle_t const image,
419  dwPointCloudRangeImageCreatorHandle_t const obj);
434 DW_API_PUBLIC
435 DW_DEPRECATED("dwPointCloudRangeImageCreator_bindOutputPointCloud() is renamed / deprecated and will be removed in the next major release,"
436  " use dwPCRangeImageCreator_bindPointCloudOutput() instead")
437 // coverity[misra_c_2012_rule_5_1_violation] Deprecated API
438 dwStatus dwPointCloudRangeImageCreator_bindOutputPointCloud(dwPointCloud* const pointCloud,
439  dwPointCloudRangeImageCreatorHandle_t const obj);
440 
451 DW_API_PUBLIC
452 DW_DEPRECATED("dwPointCloudRangeImageCreator_process() is renamed / deprecated and will be removed in the next major release,"
453  " use dwPCRangeImageCreator_process() instead")
454 // coverity[misra_c_2012_rule_5_1_violation] Deprecated API
455 dwStatus dwPointCloudRangeImageCreator_process(dwPointCloudRangeImageCreatorHandle_t const obj);
456 
457 #ifdef __cplusplus
458 }
459 #endif
460 
461 #endif // DW_POINTCLOUDPROCESSING_POINTCLOUDRANGEIMAGECREATOR_H_
dwPCRangeImageCreator_reset
DW_API_PUBLIC dwStatus dwPCRangeImageCreator_reset(dwPointCloudRangeImageCreatorHandle_t const obj)
Resets range image creator.
dwPointCloudRangeImageClippingParams
Defines range image clipping parameters.
Definition: PointCloudRangeImageCreator.h:54
dwPointCloudRangeImageCreatorParams::transformation
dwTransformation3f transformation
Transformation applied to input points, if 0, identity will be used.
Definition: PointCloudRangeImageCreator.h:77
dwPointCloudRangeImageClippingParams::maxElevationRadians
float32_t maxElevationRadians
Maximum pitch angle.
Definition: PointCloudRangeImageCreator.h:60
dwPointCloudRangeImageCreatorParams::clippingParams
dwPointCloudRangeImageClippingParams clippingParams
Clipping parameters.
Definition: PointCloudRangeImageCreator.h:78
dwPointCloud
Defines point cloud data structure.
Definition: PointCloud.h:80
ctx
DW_API_PUBLIC dwPointCloudRangeImageCreatorParams const *const const dwContextHandle_t ctx
Definition: PointCloudRangeImageCreator.h:293
dwPCRangeImageCreator_initialize
DW_API_PUBLIC dwStatus dwPCRangeImageCreator_initialize(dwPointCloudRangeImageCreatorHandle_t *const obj, dwPointCloudRangeImageCreatorParams const *const params, dwContextHandle_t const ctx)
Initializes range image creator.
dwPCRangeImageCreator_bindPointCloudOutput
DW_API_PUBLIC dwStatus dwPCRangeImageCreator_bindPointCloudOutput(dwPointCloud *const pointCloud, dwPointCloudRangeImageCreatorHandle_t const obj)
Binds output point cloud to range image creator.
dwPointCloudRangeImageClippingParams::minAzimuthRadians
float32_t minAzimuthRadians
Mimimum yaw angle.
Definition: PointCloudRangeImageCreator.h:61
dwPointCloudRangeImageCreatorParams::type
dwPointCloudRangeImageType type
Range image type.
Definition: PointCloudRangeImageCreator.h:76
DW_DEPRECATED
DW_API_PUBLIC DW_DEPRECATED("dwPointCloudRangeImageCreator_initialize() is renamed / deprecated and will be removed in the next major release," " use dwPCRangeImageCreator_initialize() instead") dwStatus dwPointCloudRangeImageCreator_initialize(dwPointCloudRangeImageCreatorHandle_t *const obj
Initializes range image creator.
dwPointCloudRangeImageCreatorParams::memoryType
dwMemoryType memoryType
Memory type, CUDA or CPU.
Definition: PointCloudRangeImageCreator.h:72
dwPointCloudRangeImageCreatorParams::width
uint32_t width
Output image width.
Definition: PointCloudRangeImageCreator.h:74
dwPointCloudRangeImageCreatorHandle_t
struct dwPointCloudRangeImageCreatorObject * dwPointCloudRangeImageCreatorHandle_t
Definition: PointCloudRangeImageCreator.h:41
float32_t
float float32_t
Specifies POD types.
Definition: BasicTypes.h:41
dwPointCloudRangeImageClippingParams::minElevationRadians
float32_t minElevationRadians
Mimimum pitch angle.
Definition: PointCloudRangeImageCreator.h:59
dwPointCloudRangeImageClippingParams::nearDist
float32_t nearDist
Minimum distance.
Definition: PointCloudRangeImageCreator.h:57
dwPointCloudRangeImageClippingParams::maxAzimuthRadians
float32_t maxAzimuthRadians
Maximum yaw angle.
Definition: PointCloudRangeImageCreator.h:62
dwPCRangeImageCreator_getImageProperties
DW_API_PUBLIC dwStatus dwPCRangeImageCreator_getImageProperties(dwImageProperties *const imageProperties, dwConstPointCloudRangeImageCreatorHandle_t const obj)
Get properties of an image to bind as an output.
dwPCRangeImageCreator_setCUDAStream
DW_API_PUBLIC dwStatus dwPCRangeImageCreator_setCUDAStream(cudaStream_t const stream, dwPointCloudRangeImageCreatorHandle_t const obj)
Sets CUDA stream of range image creator.
dwPointCloudRangeImageClippingParams::farDist
float32_t farDist
Maximum distance.
Definition: PointCloudRangeImageCreator.h:56
dwImageProperties
Defines the properties of the image.
Definition: Image.h:477
dwMemoryType
dwMemoryType
Memory type definitions.
Definition: TypesExtra.h:142
dwContextHandle_t
struct dwContextObject * dwContextHandle_t
Context handle.
Definition: Context.h:74
dwPointCloudRangeImageCreatorParams::height
uint32_t height
Output image height.
Definition: PointCloudRangeImageCreator.h:75
dwPointCloudRangeImageClippingParams::orientedBoundingBox
dwOrientedBoundingBox3f orientedBoundingBox
Bounding box identifying clipping planes.
Definition: PointCloudRangeImageCreator.h:64
dwImageHandle_t
struct dwImageObject * dwImageHandle_t
Definition: Image.h:88
dwPCRangeImageCreator_getCUDAStream
DW_API_PUBLIC dwStatus dwPCRangeImageCreator_getCUDAStream(cudaStream_t *const stream, dwConstPointCloudRangeImageCreatorHandle_t const obj)
Gets CUDA stream of range image creator.
dwConstPointCloudRangeImageCreatorHandle_t
const struct dwPointCloudRangeImageCreatorObject * dwConstPointCloudRangeImageCreatorHandle_t
Definition: PointCloudRangeImageCreator.h:42
DW_POINT_CLOUD_IMAGE_TYPE_DISTANCE
@ DW_POINT_CLOUD_IMAGE_TYPE_DISTANCE
R_FLOAT32 image where each pixel is the 3D distance in XYZ space.
Definition: PointCloudRangeImageCreator.h:46
dwStatus
dwStatus
Status definition.
Definition: ErrorDefs.h:27
dwPointCloudRangeImageCreatorParams
Defines point cloud range image creator parameters.
Definition: PointCloudRangeImageCreator.h:70
dwTransformation3f
Specifies a 3D rigid transformation.
Definition: MatrixTypes.h:226
params
DW_API_PUBLIC dwPointCloudRangeImageCreatorParams const *const params
Definition: PointCloudRangeImageCreator.h:292
dwPCRangeImageCreator_bindInput
DW_API_PUBLIC dwStatus dwPCRangeImageCreator_bindInput(dwPointCloud const *const pointCloud, dwPointCloudRangeImageCreatorHandle_t const obj)
Binds input point cloud to range image creator.
DW_API_PUBLIC
#define DW_API_PUBLIC
Definition: Exports.h:38
dwPointCloudRangeImageType
dwPointCloudRangeImageType
Definition of the image type of Lidar cylindrical projection image.
Definition: PointCloudRangeImageCreator.h:45
obj
const NvSciSyncObj *const obj
Definition: wfdext.h:120
dwPCRangeImageCreator_process
DW_API_PUBLIC dwStatus dwPCRangeImageCreator_process(dwPointCloudRangeImageCreatorHandle_t const obj)
Organizes input point cloud and projects on the spherical coordinate to form a range image.
dwOrientedBoundingBox3f
Data structure representing an oriented bounding box in the local object coordinate frame The box is ...
Definition: GeometricTypes.h:181
dwPCRangeImageCreator_release
DW_API_PUBLIC dwStatus dwPCRangeImageCreator_release(dwPointCloudRangeImageCreatorHandle_t const obj)
Releases range image creator.
DW_POINT_CLOUD_IMAGE_TYPE_2D_GRID
@ DW_POINT_CLOUD_IMAGE_TYPE_2D_GRID
RGBA_FLOAT32 image where each pixel is a tuple of 3D Lidar coordinate and intensity.
Definition: PointCloudRangeImageCreator.h:48
dwPointCloudRangeImageCreatorParams::maxInputPoints
uint32_t maxInputPoints
Maximum number of point in input point cloud.
Definition: PointCloudRangeImageCreator.h:73
dwPCRangeImageCreator_bindOutput
DW_API_PUBLIC dwStatus dwPCRangeImageCreator_bindOutput(dwImageHandle_t const image, dwPointCloudRangeImageCreatorHandle_t const obj)
Binds output range image to range image creator.
dwPCRangeImageCreator_getDefaultParams
DW_API_PUBLIC dwStatus dwPCRangeImageCreator_getDefaultParams(dwPointCloudRangeImageCreatorParams *const params)
Gets default range image creator parameters.
DW_POINT_CLOUD_IMAGE_TYPE_INTENSITY
@ DW_POINT_CLOUD_IMAGE_TYPE_INTENSITY
R_FLOAT32 image where each pixel is the Lidar intensity.
Definition: PointCloudRangeImageCreator.h:47