NVIDIA DriveOS Linux NSR SDK API Reference
7.0.3.0 Release
PointCloudStitcher.h
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12 
29 #ifndef DW_POINTCLOUDPROCESSING_STITCHER_POINTCLOUDSTITCHER_H_
30 #define DW_POINTCLOUDPROCESSING_STITCHER_POINTCLOUDSTITCHER_H_
31 
32 #include <dw/core/base/Types.h>
33 #include <dw/egomotion/base/Egomotion.h>
34 #include <dw/pointcloudprocessing/lidarpointcloud/LidarPointCloud.h>
35 
36 #ifdef __cplusplus
37 extern "C" {
38 #endif
39 
43 #define DW_POINTCLOUD_STITCHER_MAX_POINT_CLOUDS DW_BIND_SLOT_MAX_COUNT
44 
45 typedef struct dwPointCloudStitcherObject* dwPointCloudStitcherHandle_t;
46 
58 DW_API_PUBLIC
59 dwStatus dwPointCloudStitcher_initialize(dwPointCloudStitcherHandle_t* obj,
60  dwContextHandle_t ctx);
61 
72 DW_API_PUBLIC
73 dwStatus dwPointCloudStitcher_reset(dwPointCloudStitcherHandle_t obj);
74 
85 DW_API_PUBLIC
86 dwStatus dwPointCloudStitcher_release(dwPointCloudStitcherHandle_t obj);
87 
99 DW_API_PUBLIC
100 dwStatus dwPointCloudStitcher_getCUDAStream(cudaStream_t* stream,
101  dwPointCloudStitcherHandle_t obj);
102 
114 DW_API_PUBLIC
115 dwStatus dwPointCloudStitcher_setCUDAStream(cudaStream_t const stream,
116  dwPointCloudStitcherHandle_t obj);
117 
130 DW_API_PUBLIC
131 dwStatus dwPointCloudStitcher_enableMotionCompensation(dwTime_t const timestamp,
132  dwEgomotionConstHandle_t egomotion,
133  dwPointCloudStitcherHandle_t obj);
134 
145 DW_API_PUBLIC
146 dwStatus dwPointCloudStitcher_disableMotionCompensation(dwPointCloudStitcherHandle_t obj);
147 
164 DW_API_PUBLIC
165 dwStatus dwPointCloudStitcher_setGlobalTransformation(dwTransformation3f const* tx,
166  dwPointCloudStitcherHandle_t obj);
167 
183 DW_API_PUBLIC
184 dwStatus dwPointCloudStitcher_bindInput(dwBindSlot const slot,
185  dwPointCloud const* pointCloud,
186  dwTransformation3f const* pointCloudToRig,
187  dwPointCloudStitcherHandle_t obj);
188 
206 DW_API_PUBLIC
207 dwStatus dwPointCloudStitcher_bindInputLidarPointCloud(dwBindSlot const slot,
208  dwLidarPointCloud const* lidarPointCloud,
209  dwTransformation3f const* pointCloudToRig,
210  dwPointCloudStitcherHandle_t obj);
211 
223 DW_API_PUBLIC
224 dwStatus dwPointCloudStitcher_bindOutput(dwPointCloud* pointCloud,
225  dwPointCloudStitcherHandle_t obj);
226 
238 DW_API_PUBLIC
239 dwStatus dwPointCloudStitcher_bindOutputLidarPointCloud(dwLidarPointCloud* lidarPointCloud,
240  dwPointCloudStitcherHandle_t obj);
241 
254 DW_API_PUBLIC
255 dwStatus dwPointCloudStitcher_process(dwPointCloudStitcherHandle_t obj);
256 
257 #ifdef __cplusplus
258 }
259 #endif
260 
261 #endif // DW_POINTCLOUDPROCESSING_STITCHER_POINTCLOUDSTITCHER_H_
dwPointCloudStitcher_initialize
DW_API_PUBLIC dwStatus dwPointCloudStitcher_initialize(dwPointCloudStitcherHandle_t *obj, dwContextHandle_t ctx)
Initializes point cloud stitcher.
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
timestamp
const WFDPipeline const WFDSource const WFDTransition const WFDRect *const const WFDuint64 timestamp
Definition: wfdext.h:61
dwPointCloudStitcher_reset
DW_API_PUBLIC dwStatus dwPointCloudStitcher_reset(dwPointCloudStitcherHandle_t obj)
Resets point cloud stitcher.
dwTime_t
int64_t dwTime_t
Specifies a timestamp unit, in microseconds.
Definition: BasicTypes.h:54
dwPointCloudStitcher_getCUDAStream
DW_API_PUBLIC dwStatus dwPointCloudStitcher_getCUDAStream(cudaStream_t *stream, dwPointCloudStitcherHandle_t obj)
Gets CUDA stream of point cloud stitcher.
dwContextHandle_t
struct dwContextObject * dwContextHandle_t
Context handle.
Definition: Context.h:74
dwPointCloudStitcher_bindOutputLidarPointCloud
DW_API_PUBLIC dwStatus dwPointCloudStitcher_bindOutputLidarPointCloud(dwLidarPointCloud *lidarPointCloud, dwPointCloudStitcherHandle_t obj)
Binds output lidar specific point cloud to the stitcher.
dwPointCloudStitcher_release
DW_API_PUBLIC dwStatus dwPointCloudStitcher_release(dwPointCloudStitcherHandle_t obj)
Releases point cloud stitcher.
dwBindSlot
dwBindSlot
The slot enum used when an application wants a dw module to bind some particular input data to an int...
Definition: TypesExtra.h:164
dwStatus
dwStatus
Status definition.
Definition: ErrorDefs.h:27
dwPointCloudStitcher_setGlobalTransformation
DW_API_PUBLIC dwStatus dwPointCloudStitcher_setGlobalTransformation(dwTransformation3f const *tx, dwPointCloudStitcherHandle_t obj)
Sets global transformation for the stitched point cloud.
dwPointCloudStitcher_process
DW_API_PUBLIC dwStatus dwPointCloudStitcher_process(dwPointCloudStitcherHandle_t obj)
Transforms all the input point clouds to a common coordinate.
dwTransformation3f
Specifies a 3D rigid transformation.
Definition: MatrixTypes.h:226
dwPointCloudStitcher_setCUDAStream
DW_API_PUBLIC dwStatus dwPointCloudStitcher_setCUDAStream(cudaStream_t const stream, dwPointCloudStitcherHandle_t obj)
Sets CUDA stream of point cloud stitcher.
dwPointCloudStitcher_bindInputLidarPointCloud
DW_API_PUBLIC dwStatus dwPointCloudStitcher_bindInputLidarPointCloud(dwBindSlot const slot, dwLidarPointCloud const *lidarPointCloud, dwTransformation3f const *pointCloudToRig, dwPointCloudStitcherHandle_t obj)
Binds input lidar specific point cloud to the point cloud stitcher.
dwPointCloudStitcher_enableMotionCompensation
DW_API_PUBLIC dwStatus dwPointCloudStitcher_enableMotionCompensation(dwTime_t const timestamp, dwEgomotionConstHandle_t egomotion, dwPointCloudStitcherHandle_t obj)
Enables motion compensation for the stitched point cloud.
dwPointCloudStitcher_bindInput
DW_API_PUBLIC dwStatus dwPointCloudStitcher_bindInput(dwBindSlot const slot, dwPointCloud const *pointCloud, dwTransformation3f const *pointCloudToRig, dwPointCloudStitcherHandle_t obj)
Binds input point cloud to the point cloud stitcher.
DW_API_PUBLIC
#define DW_API_PUBLIC
Definition: Exports.h:38
dwPointCloudStitcher_bindOutput
DW_API_PUBLIC dwStatus dwPointCloudStitcher_bindOutput(dwPointCloud *pointCloud, dwPointCloudStitcherHandle_t obj)
Binds output buffer to the point cloud stitcher.
obj
const NvSciSyncObj *const obj
Definition: wfdext.h:120
dwEgomotionConstHandle_t
struct dwEgomotionObject const * dwEgomotionConstHandle_t
Const Egomotion Handle.
Definition: Egomotion.h:72
dwPointCloudStitcher_disableMotionCompensation
DW_API_PUBLIC dwStatus dwPointCloudStitcher_disableMotionCompensation(dwPointCloudStitcherHandle_t obj)
Disables motion compensation for the stitched point cloud.
dwLidarPointCloud
Defines a LIDAR-specific point cloud data structure.
Definition: LidarPointCloud.h:80
dwPointCloudStitcherHandle_t
struct dwPointCloudStitcherObject * dwPointCloudStitcherHandle_t
Definition: PointCloudStitcher.h:45