Detailed Description

Defines the Lidar sensor types.

Defines the Lidar sensor methods.

Data Structures
struct	dwLidarScanPatternRayValidity
	Holds validity flags for attributes of dwLidarRay. More...

struct	dwLidarScanPattern
	Holds a Lidar scan pattern. More...

struct	dwLidarPointXYZI
	Holds a Lidar point cloud XYZ and the associated intensity. More...

struct	dwLidarPointRTHI
	Holds a Lidar point cloud RTHI and the associated intensity. More...

struct	dwLidarProperties
	Defines the properties of the lidar. More...

struct	dwLidarDecodedReturn
	Defines the return structure for an extended decoded lidar packet. More...

struct	dwLidarDecodedPacket
	Defines the structure for a decoded lidar packet. More...

Macros
#define	DW_SENSORS_LIDAR_MAX_RETURNS 10
	Maximum number of distinct lidar returns a point cloud can contain. More...

#define	DW_SENSORS_LIDAR_MAX_ROWS 360
	maximal number of rows in dwLidarProperties More...

Typedefs
typedef struct dwLidarScanPatternRayValidity	dwLidarScanPatternRayValidity
	Holds validity flags for attributes of dwLidarRay. More...

typedef struct dwLidarScanPattern	dwLidarScanPattern
	Holds a Lidar scan pattern. More...

typedef struct dwLidarPointXYZI	dwLidarPointXYZI
	Holds a Lidar point cloud XYZ and the associated intensity. More...

typedef struct dwLidarPointRTHI	dwLidarPointRTHI
	Holds a Lidar point cloud RTHI and the associated intensity. More...

typedef struct dwLidarProperties	dwLidarProperties
	Defines the properties of the lidar. More...

typedef struct dwLidarDecodedReturn	dwLidarDecodedReturn
	Defines the return structure for an extended decoded lidar packet. More...

typedef struct dwLidarSSI	dwLidarDecodedSSI
	Forward declearation since not available as of current release. Will be added in future release. More...

typedef struct dwLidarDecodedPacket	dwLidarDecodedPacket
	Defines the structure for a decoded lidar packet. More...

Enumerations
enum	dwLidarReturnType { DW_LIDAR_RETURN_TYPE_ANY = 0, DW_LIDAR_RETURN_TYPE_FIRST = 1 << 0, DW_LIDAR_RETURN_TYPE_LAST = 1 << 1, DW_LIDAR_RETURN_TYPE_STRONGEST = 1 << 2, DW_LIDAR_RETURN_TYPE_ABS_STRONGEST = 1 << 3, DW_LIDAR_RETURN_TYPE_1 = 1 << 4, DW_LIDAR_RETURN_TYPE_2 = 1 << 5, DW_LIDAR_RETURN_TYPE_3 = 1 << 6, DW_LIDAR_RETURN_TYPE_4 = 1 << 7, DW_LIDAR_RETURN_TYPE_5 = 1 << 8, DW_LIDAR_RETURN_TYPE_6 = 1 << 9 }
	Enum to indicate a single return type. More...

enum	dwLidarAuxDataType { DW_LIDAR_AUX_DATA_TYPE_SNR = 0, DW_LIDAR_AUX_DATA_TYPE_PULSEWIDTH_PS = 1, DW_LIDAR_AUX_DATA_TYPE_TIME = 2, DW_LIDAR_AUX_DATA_TYPE_V_MPS = 3, DW_LIDAR_AUX_DATA_TYPE_EXISTENCEPROB = 4, DW_LIDAR_AUX_DATA_TYPE_CROSSTALKPROB = 5, DW_LIDAR_AUX_DATA_TYPE_NOISELEVEL = 6, DW_LIDAR_AUX_DATA_TYPE_ZONEID = 7, DW_LIDAR_AUX_DATA_TYPE_DETECTORID = 8, DW_LIDAR_AUX_DATA_TYPE_LINEID = 9, DW_LIDAR_AUX_DATA_TYPE_DATAQUALITY = 10, DW_LIDAR_AUX_DATA_TYPE_SCANCHECKPOINT = 11, DW_LIDAR_AUX_DATA_TYPE_BLOCKAGEFLAG = 12, DW_LIDAR_AUX_DATA_TYPE_SENSORID = 13, DW_LIDAR_AUX_DATA_TYPE_AZIMUTH = 14, DW_LIDAR_AUX_DATA_TYPE_ELEVATION = 15, DW_LIDAR_AUX_DATA_TYPE_DISTANCE = 16, DW_LIDAR_AUX_DATA_TYPE_ROI = 17, DW_LIDAR_AUX_DATA_TYPE_VALIDITY = 18, DW_LIDAR_AUX_DATA_TYPE_INVALIDITYFLAG = 19, DW_LIDAR_AUX_DATA_TYPE_DOWN_SELECTED_RETURN = 20, DW_LIDAR_AUX_DATA_TYPE_COUNT = 21, DW_LIDAR_AUX_DATA_TYPE_FORCE32 = 0x7FFFFFFF }
	An enum for every data element we could possibly return. More...

enum	dwLidarInvalidityFlag { DW_LIDAR_INVALIDITY_NONE = 0, DW_LIDAR_INVALIDITY_DW = 1 << 0, DW_LIDAR_INVALIDITY_VEND = 1 << 1, DW_LIDAR_INVALIDITY_BLOCKAGE = 1 << 2, DW_LIDAR_INVALIDITY_INVALID }
	An enum for specifying invalidity flags. More...

Functions
DW_API_PUBLIC dwStatus	dwSensorLidar_getAuxElementSize (uint32_t *const sizeBytes, dwLidarAuxDataType const auxType)
	Returns size of auxiliary data element in bytes. More...

DW_API_PUBLIC dwStatus	dwSensorLidar_enableDecoding (dwSensorHandle_t const sensor)
	Enables the decoding of the Lidar packets, which incurs an additional CPU load. More...

DW_API_PUBLIC dwStatus	dwSensorLidar_disableDecoding (dwSensorHandle_t const sensor)
	Disable the decoding of the Lidar packets, which frees additional CPU load. More...

DW_API_PUBLIC dwStatus	dwSensorLidar_isDecodingEnabled (bool *const enable, dwSensorHandle_t const sensor)
	Retrieves the state of packet decoding. More...

DW_API_PUBLIC dwStatus	dwSensorLidar_readPacket (dwLidarDecodedPacket const **const data, dwTime_t const timeoutUs, dwSensorHandle_t const sensor)
	Reads one scan packet. More...

DW_API_PUBLIC dwStatus	dwSensorLidar_returnPacket (dwLidarDecodedPacket const *const data, dwSensorHandle_t const sensor)
	Returns the data read to the internal pool. More...

DW_API_PUBLIC dwStatus	dwSensorLidar_processRawData (dwLidarDecodedPacket const *const data, uint8_t const const rawData, size_t const size, dwSensorHandle_t const sensor)
	Decodes RAW data previously read and returns a pointer to it. More...

DW_API_PUBLIC dwStatus	dwSensorLidar_getProperties (dwLidarProperties *const lidarProperties, dwSensorHandle_t const sensor)
	Gets information about the Lidar sensor. More...

DW_API_PUBLIC dwStatus	dwSensorLidar_sendMessage (uint32_t const cmd, uint8_t const *const data, size_t const size, dwSensorHandle_t const sensor)
	Sends a message to Lidar sensor. More...

Macro Definition Documentation

◆ DW_SENSORS_LIDAR_MAX_RETURNS

#define DW_SENSORS_LIDAR_MAX_RETURNS 10

Maximum number of distinct lidar returns a point cloud can contain.

Definition at line 171 of file LidarTypes.h.

◆ DW_SENSORS_LIDAR_MAX_ROWS

#define DW_SENSORS_LIDAR_MAX_ROWS 360

maximal number of rows in dwLidarProperties

Definition at line 191 of file LidarTypes.h.

Typedef Documentation

◆ dwLidarDecodedPacket

typedef struct dwLidarDecodedPacket dwLidarDecodedPacket

Defines the structure for a decoded lidar packet.

◆ dwLidarDecodedReturn

typedef struct dwLidarDecodedReturn dwLidarDecodedReturn

Defines the return structure for an extended decoded lidar packet.

◆ dwLidarDecodedSSI

typedef struct dwLidarSSI dwLidarDecodedSSI

Forward declearation since not available as of current release. Will be added in future release.

Definition at line 271 of file LidarTypes.h.

◆ dwLidarPointRTHI

typedef struct dwLidarPointRTHI dwLidarPointRTHI

Holds a Lidar point cloud RTHI and the associated intensity.

◆ dwLidarPointXYZI

typedef struct dwLidarPointXYZI dwLidarPointXYZI

Holds a Lidar point cloud XYZ and the associated intensity.

◆ dwLidarProperties

typedef struct dwLidarProperties dwLidarProperties

Defines the properties of the lidar.

◆ dwLidarScanPattern

typedef struct dwLidarScanPattern dwLidarScanPattern

Holds a Lidar scan pattern.

◆ dwLidarScanPatternRayValidity

typedef struct dwLidarScanPatternRayValidity dwLidarScanPatternRayValidity

Holds validity flags for attributes of dwLidarRay.

Enumeration Type Documentation

◆ dwLidarAuxDataType

enum dwLidarAuxDataType

An enum for every data element we could possibly return.

Enumerator
DW_LIDAR_AUX_DATA_TYPE_SNR	SNR type.
DW_LIDAR_AUX_DATA_TYPE_PULSEWIDTH_PS	PULSEWIDTH_PS type.
DW_LIDAR_AUX_DATA_TYPE_TIME	TIME type.
DW_LIDAR_AUX_DATA_TYPE_V_MPS	V_MPS type.
DW_LIDAR_AUX_DATA_TYPE_EXISTENCEPROB	EXISTENCEPROB type.
DW_LIDAR_AUX_DATA_TYPE_CROSSTALKPROB	CROSSTALKPROB type.
DW_LIDAR_AUX_DATA_TYPE_NOISELEVEL	NOISELEVEL type.
DW_LIDAR_AUX_DATA_TYPE_ZONEID	ZONEID type.
DW_LIDAR_AUX_DATA_TYPE_DETECTORID	DETECTORID type.
DW_LIDAR_AUX_DATA_TYPE_LINEID	LINEID type.
DW_LIDAR_AUX_DATA_TYPE_DATAQUALITY	DATAQUALITY type.
DW_LIDAR_AUX_DATA_TYPE_SCANCHECKPOINT	SCANCHECKPOINT type.
DW_LIDAR_AUX_DATA_TYPE_BLOCKAGEFLAG	BLOCKAGEFLAG type.
DW_LIDAR_AUX_DATA_TYPE_SENSORID	SENSORID type.
DW_LIDAR_AUX_DATA_TYPE_AZIMUTH	AZIMUTH type.
DW_LIDAR_AUX_DATA_TYPE_ELEVATION	ELEVATION type.
DW_LIDAR_AUX_DATA_TYPE_DISTANCE	DISTANCE type.
DW_LIDAR_AUX_DATA_TYPE_ROI	ROI type.
DW_LIDAR_AUX_DATA_TYPE_VALIDITY	VALIDITY type.
DW_LIDAR_AUX_DATA_TYPE_INVALIDITYFLAG	INVALIDITYFLAG type.
DW_LIDAR_AUX_DATA_TYPE_DOWN_SELECTED_RETURN	DOWN_SELECTED_RETURN type.
DW_LIDAR_AUX_DATA_TYPE_COUNT	COUNT type.
DW_LIDAR_AUX_DATA_TYPE_FORCE32

Definition at line 69 of file LidarTypes.h.

◆ dwLidarInvalidityFlag

enum dwLidarInvalidityFlag

An enum for specifying invalidity flags.

Enumerator
DW_LIDAR_INVALIDITY_NONE	No flags are set.
DW_LIDAR_INVALIDITY_DW	DriveWorks-specific validity flags.
DW_LIDAR_INVALIDITY_VEND	Vendor-specific validity flags.
DW_LIDAR_INVALIDITY_BLOCKAGE	Blockage validity flags.
DW_LIDAR_INVALIDITY_INVALID	Point is not valid if any of flags are set.

Definition at line 98 of file LidarTypes.h.

◆ dwLidarReturnType

enum dwLidarReturnType

Enum to indicate a single return type.

Bitmasks of this enum can be used to specify return configurations of lidars, requested returns from the accumulator, or returns available in a point cloud

Enumerator
DW_LIDAR_RETURN_TYPE_ANY	API default for whatever. returns happen to be present
DW_LIDAR_RETURN_TYPE_FIRST	First return.
DW_LIDAR_RETURN_TYPE_LAST	Last return.
DW_LIDAR_RETURN_TYPE_STRONGEST	Strongest return (vendor-specific)
DW_LIDAR_RETURN_TYPE_ABS_STRONGEST	Derived type: if multiple. returns are present, whichever is strongest
DW_LIDAR_RETURN_TYPE_1	Generic enum to capture lidars for which an array of returns is present.
DW_LIDAR_RETURN_TYPE_2	Generic enum to capture lidars for which an array of returns is present.
DW_LIDAR_RETURN_TYPE_3	Generic enum to capture lidars for which an array of returns is present.
DW_LIDAR_RETURN_TYPE_4	Generic enum to capture lidars for which an array of returns is present.
DW_LIDAR_RETURN_TYPE_5	Generic enum to capture lidars for which an array of returns is present.
DW_LIDAR_RETURN_TYPE_6	Generic enum to capture lidars for which an array of returns is present.

Definition at line 48 of file LidarTypes.h.

Function Documentation

◆ dwSensorLidar_disableDecoding()

DW_API_PUBLIC dwStatus dwSensorLidar_disableDecoding ( dwSensorHandle_t const sensor )

Disable the decoding of the Lidar packets, which frees additional CPU load.

Method fails if the sensor has been started and is capturing data. Stop the sensor first. The default state is to have decoding on. If on, dwSensor_readRawData(see reference [15]) returns DW_CALL_NOT_ALLOWED.

Parameters

[in] sensor Specifies the sensor handle of the sensor previously created with 'dwSAL_createSensor(see reference [15])'.

Return values

DW_INVALID_HANDLE	The input handle is not a lidar handle.
DW_CALL_NOT_ALLOWED	The sensor is not stopped.
DW_SUCCESS	Successful deal.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSensorLidar_enableDecoding()

DW_API_PUBLIC dwStatus dwSensorLidar_enableDecoding ( dwSensorHandle_t const sensor )

Enables the decoding of the Lidar packets, which incurs an additional CPU load.

Method fails if the sensor has been started and is capturing data. Stop the sensor first. The default state is to have decoding on. If on, dwSensor_readRawData(see reference [15]) returns DW_CALL_NOT_ALLOWED.

Parameters

[in] sensor Specifies the sensor handle of the sensor previously created with 'dwSAL_createSensor(see reference [15])'.

Return values

DW_INVALID_HANDLE	The input handle is not a lidar handle.
DW_CALL_NOT_ALLOWED	The sensor is not stopped.
DW_SUCCESS	Successful deal.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSensorLidar_getAuxElementSize()

DW_API_PUBLIC dwStatus dwSensorLidar_getAuxElementSize	(	uint32_t *const	sizeBytes,
		dwLidarAuxDataType const	auxType
	)

Returns size of auxiliary data element in bytes.

Parameters

[out]	sizeBytes	element size
[in]	auxType	auxiliary data type

Return values

DW_INVALID_ARGUMENT	The input parameter is invalid.
DW_SUCCESS	Successful deal.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSensorLidar_getProperties()

DW_API_PUBLIC dwStatus dwSensorLidar_getProperties	(	dwLidarProperties *const	lidarProperties,
		dwSensorHandle_t const	sensor
	)

Gets information about the Lidar sensor.

Parameters

[out]	lidarProperties	A pointer to the struct containing the properties of the Lidar.
[in]	sensor	Specifies the sensor handle of the sensor previously created with 'dwSAL_createSensor(see reference [15])'.

Return values

DW_INVALID_HANDLE	the input handle is not a lidar handle.
DW_CALL_NOT_ALLOWED	config is not allowed to get in passive mode.
DW_SAL_SENSOR_ERROR	fail to retrieve properties from the sensor.
DW_SUCCESS	successful deal.

Note: Other return value will depend on the lidar type due to the reason that different type lidar will have different internal implements.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSensorLidar_isDecodingEnabled()

DW_API_PUBLIC dwStatus dwSensorLidar_isDecodingEnabled	(	bool *const	enable,
		dwSensorHandle_t const	sensor
	)

Retrieves the state of packet decoding.

Parameters

[out]	enable	Contains the result of the query, which is true when decoding. False if RAW data.
[in]	sensor	Specifies the sensor handle of the sensor previously created with 'dwSAL_createSensor(see reference [15])'.

Return values

DW_SUCCESS	Successful deal.
DW_INVALID_HANDLE	The input handle is not a lidar handle.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSensorLidar_processRawData()

DW_API_PUBLIC dwStatus dwSensorLidar_processRawData	(	dwLidarDecodedPacket const **const	data,
		uint8_t const *const	rawData,
		size_t const	size,
		dwSensorHandle_t const	sensor
	)

Decodes RAW data previously read and returns a pointer to it.

This happens on the CPU thread where the function is called, incurring on additional load on that thread. The data is valid until the application calls dwSensor_returnRawData.

Parameters

[out]	data	A pointer to the memory pool owned by the sensor.
[in]	rawData	A pointer for the non-decoded Lidar packet, returned by 'dwSensor_readRawData(see reference [15])'.
[in]	size	Specifies the size in bytes of the raw data.
[in]	sensor	Specifies the sensor handle of the sensor previously created with 'dwSAL_createSensor(see reference [15])'.

Return values

DW_INVALID_HANDLE	the input handle is not a lidar handle.
DW_CALL_NOT_ALLOWED	the decoder is not working.
DW_SUCCESS	successful deal.

Note: Other return value will depend on the lidar type due to the reason that different type lidar will have different internal implements.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSensorLidar_readPacket()

DW_API_PUBLIC dwStatus dwSensorLidar_readPacket	(	dwLidarDecodedPacket const **const	data,
		dwTime_t const	timeoutUs,
		dwSensorHandle_t const	sensor
	)

Reads one scan packet.

The pointer returned is to the internal data pool. DW guarantees that the data remains constant until returned by the application. The data must be explicitly returned by the application.

Parameters

[out]	data	A pointer to a pointer that can read data from the sensor. The struct contains the numbers of points read, which depends on the sensor used.
[in]	timeoutUs	Specifies the timeout in microseconds. Special values: DW_TIMEOUT_INFINITE - to wait infinitly. Zero - means polling of internal queue.
[in]	sensor	Specifies the sensor handle of the sensor previously created with 'dwSAL_createSensor(see reference [15])'.

Return values

DW_INVALID_HANDLE	the input handle is not a lidar handle.
DW_CALL_NOT_ALLOWED	the decoder is not working.
DW_INVALID_ARGUMENT	the input argument is invalid.
DW_NOT_AVAILABLE	device is disconneted or sensor is not working.
DW_TIME_OUT	timeout.
DW_SUCCESS	successful deal.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSensorLidar_returnPacket()

DW_API_PUBLIC dwStatus dwSensorLidar_returnPacket	(	dwLidarDecodedPacket const *const	data,
		dwSensorHandle_t const	sensor
	)

Returns the data read to the internal pool.

At this point the pointer is still be valid, but data is change based on newer readings of the sensor.

Parameters

[in]	data	A pointer to the scan data previously read from the Lidar to be returned to the pool.
[in]	sensor	Specifies the sensor handle of the sensor previously created with 'dwSAL_createSensor(see reference [15])'.

Return values

DW_INVALID_HANDLE	the input handle is not a lidar handle.
DW_CALL_NOT_ALLOWED	the decoder is not working.
DW_SUCCESS	successful deal.

Note: Other return value will depend on the lidar type due to the reason that different type lidar will have different internal implements.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSensorLidar_sendMessage()

DW_API_PUBLIC dwStatus dwSensorLidar_sendMessage	(	uint32_t const	cmd,
		uint8_t const *const	data,
		size_t const	size,
		dwSensorHandle_t const	sensor
	)

Sends a message to Lidar sensor.

Parameters

[in]	cmd	Command identifier associated to the given message data.
[in]	data	A pointer to the message data.
[in]	size	Size in bytes of the `data`.
[in]	sensor	Specifies the sensor handle of the sensor previously created with 'dwSAL_createSensor(see reference [15])'.

Return values

DW_INVALID_HANDLE the input handle is not a lidar handle.

Note: Other return value will depend on the lidar type due to the reason that different type lidar will have different internal implements.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

NVIDIA DriveOS Linux NSR SDK API Reference

7.0.3.0 Release

Detailed Description

Data Structures

Macros

Typedefs

Enumerations

Functions

Macro Definition Documentation

◆ DW_SENSORS_LIDAR_MAX_RETURNS

◆ DW_SENSORS_LIDAR_MAX_ROWS

Typedef Documentation

◆ dwLidarDecodedPacket

◆ dwLidarDecodedReturn

◆ dwLidarDecodedSSI

◆ dwLidarPointRTHI

◆ dwLidarPointXYZI

◆ dwLidarProperties

◆ dwLidarScanPattern

◆ dwLidarScanPatternRayValidity

Enumeration Type Documentation

◆ dwLidarAuxDataType

◆ dwLidarInvalidityFlag

◆ dwLidarReturnType

Function Documentation

◆ dwSensorLidar_disableDecoding()

◆ dwSensorLidar_enableDecoding()

◆ dwSensorLidar_getAuxElementSize()

◆ dwSensorLidar_getProperties()

◆ dwSensorLidar_isDecodingEnabled()

◆ dwSensorLidar_processRawData()

◆ dwSensorLidar_readPacket()

◆ dwSensorLidar_returnPacket()

◆ dwSensorLidar_sendMessage()