Point Cloud Depth Map

Detailed Description

Data Structures
struct	dwDepthMapProperties
	Defines depth map common properties. More...

Typedefs
typedef struct dwDepthMapObject *	dwDepthMapHandle_t
	Handle representing the DepthMap interface. More...
typedef struct dwDepthMapObject const *	dwConstDepthMapHandle_t

Enumerations
enum	dwDepthMapType { DW_POINTCLOUD_DEPTHMAP_TYPE_NATIVE }
	Defines depth map type. More...
enum	dwDepthImageFormat {   DW_DEPTH_IMAGE_FORMAT_XYZI = 0,   DW_DEPTH_IMAGE_FORMAT_RTHI = 1,   DW_DEPTH_IMAGE_FORMAT_DISTANCE = 2,   DW_DEPTH_IMAGE_FORMAT_INTENSITY = 3 }
	Defines depth map image type. More...

Functions
DW_API_PUBLIC dwStatus	dwDepthMap_initialize (dwDepthMapHandle_t *const depthMap, dwDepthMapProperties const properties)
	Allocate buffers for depth map object. More...
DW_API_PUBLIC dwStatus	dwDepthMap_release (dwDepthMapHandle_t const depthMap)
	Release buffers of depth map object. More...
DW_API_PUBLIC dwStatus	dwDepthMap_getProperties (dwDepthMapProperties *const properties, dwConstDepthMapHandle_t depthMapHandle)
	Get depth map properties. More...
DW_API_PUBLIC dwStatus	dwDepthMap_getTimestamp (dwTime_t *const timestamp, dwConstDepthMapHandle_t depthMapHandle)
	Get depth map timestamp. More...
DW_API_PUBLIC dwStatus	dwDepthMap_getSensorStartTimestamp (dwTime_t *const timestamp, dwConstDepthMapHandle_t depthMapHandle)
	Get depth map timestamp. More...
DW_API_PUBLIC dwStatus	dwDepthMap_getSensorEndTimestamp (dwTime_t *const timestamp, dwConstDepthMapHandle_t depthMapHandle)
	Get depth map timestamp. More...

Typedef Documentation

dwConstDepthMapHandle_t

typedef struct dwDepthMapObject const* dwConstDepthMapHandle_t

Definition at line 82 of file DepthMap.h.

dwDepthMapHandle_t

typedef struct dwDepthMapObject* dwDepthMapHandle_t

Handle representing the DepthMap interface.

Definition at line 81 of file DepthMap.h.

Enumeration Type Documentation

dwDepthImageFormat

enum dwDepthImageFormat

Defines depth map image type.

Enumerator
DW_DEPTH_IMAGE_FORMAT_XYZI	RGBA_FLOAT32 image where each pixel is a tuple of 3D cartesian coordinate and intensity.
DW_DEPTH_IMAGE_FORMAT_RTHI	RGBA_FLOAT32 image where each pixel is a tuple of 3D polar coordinate and intensity.
DW_DEPTH_IMAGE_FORMAT_DISTANCE	R_UINT8 image where each pixel represents 3D distance in XYZ space.
DW_DEPTH_IMAGE_FORMAT_INTENSITY	R_FLOAT32 image where each pixel is the Lidar intensity.

Definition at line 49 of file DepthMap.h.

dwDepthMapType

enum dwDepthMapType

Defines depth map type.

Enumerator
DW_POINTCLOUD_DEPTHMAP_TYPE_NATIVE	The depth map grid is defined as: horizontal direction: regular spacing defined by the horizontal FoV and the angular resolution vertical direction: irregular spacing defined by the vertical angles provided by lidar sensor

Definition at line 39 of file DepthMap.h.

Function Documentation

dwDepthMap_getProperties()

DW_API_PUBLIC dwStatus dwDepthMap_getProperties	(	dwDepthMapProperties *const	properties,
		dwConstDepthMapHandle_t	depthMapHandle
	)

Get depth map properties.

Parameters

[out]	properties	Specifies output depth map properties
[in]	depthMapHandle	Specifies the Depth map handle.

Return values

DW_INVALID_ARGUMENT	when the pointer to depth map properties is invalid
DW_INVALID_HANDLE	when input depth map handle is invalid, i.e null or wrong type
DW_SUCCESS	when operation succeeded

API Group

• Init: Yes
• Runtime: Yes
• De-Init: Yes

dwDepthMap_getSensorEndTimestamp()

DW_API_PUBLIC dwStatus dwDepthMap_getSensorEndTimestamp	(	dwTime_t *const	timestamp,
		dwConstDepthMapHandle_t	depthMapHandle
	)

Get depth map timestamp.

Parameters

[out]	timestamp	Specifies output depth map sensor end timestamp
[in]	depthMapHandle	Specifies the Depth map handle.

Return values

DW_INVALID_ARGUMENT	when the pointer to depth map properties is invalid
DW_INVALID_HANDLE	when input depth map handle is invalid, i.e null or wrong type
DW_SUCCESS	when operation succeeded

API Group

• Init: Yes
• Runtime: Yes
• De-Init: Yes

dwDepthMap_getSensorStartTimestamp()

DW_API_PUBLIC dwStatus dwDepthMap_getSensorStartTimestamp	(	dwTime_t *const	timestamp,
		dwConstDepthMapHandle_t	depthMapHandle
	)

Get depth map timestamp.

Parameters

[out]	timestamp	Specifies output depth map sensor start timestamp
[in]	depthMapHandle	Specifies the Depth map handle.

Return values

DW_INVALID_ARGUMENT	when the pointer to depth map properties is invalid
DW_INVALID_HANDLE	when input depth map handle is invalid, i.e null or wrong type
DW_SUCCESS	when operation succeeded

API Group

• Init: Yes
• Runtime: Yes
• De-Init: Yes

dwDepthMap_getTimestamp()

DW_API_PUBLIC dwStatus dwDepthMap_getTimestamp	(	dwTime_t *const	timestamp,
		dwConstDepthMapHandle_t	depthMapHandle
	)

Get depth map timestamp.

Parameters

[out]	timestamp	Specifies output depth map timestamp
[in]	depthMapHandle	Specifies the Depth map handle.

Return values

DW_INVALID_ARGUMENT	when the pointer to depth map properties is invalid
DW_INVALID_HANDLE	when input depth map handle is invalid, i.e null or wrong type
DW_SUCCESS	when operation succeeded

API Group

• Init: Yes
• Runtime: Yes
• De-Init: Yes

dwDepthMap_initialize()

DW_API_PUBLIC dwStatus dwDepthMap_initialize	(	dwDepthMapHandle_t *const	depthMap,
		dwDepthMapProperties const	properties
	)

Allocate buffers for depth map object.

Parameters

[out]	depthMap	Pointer to depth map
[in]	properties	Depth map properties

Return values

DW_INVALID_ARGUMENT	when given pointer is invalid
DW_SUCCESS	when operation succeeded

API Group

• Init: Yes
• Runtime: No
• De-Init: No

dwDepthMap_release()

DW_API_PUBLIC dwStatus dwDepthMap_release

(

dwDepthMapHandle_t const

depthMap

)

Release buffers of depth map object.

Parameters

[in]

depthMap

Pointer to depth map

Return values

DW_INVALID_ARGUMENT	when given pointer is invalid
DW_SUCCESS	when operation succeeded

API Group

• Init: Yes
• Runtime: No
• De-Init: Yes