NVIDIA DriveOS Linux NSR SDK API Reference
7.0.3.0 Release
Data Structures | Typedefs | Functions | Variables
Point Cloud Plane Extractor
DriveWorks » Point Cloud Processing Interface

Detailed Description

Defines module to extract one 3D plane nearby the sensor.

Data Structures

struct  dwPlaneExtractorBoxFilterParams
 Defines parameters for point cloud box filter. More...
 
struct  dwPointCloudPlaneExtractorParams
 Defines plane extraction parameter. More...
 
struct  dwPointCloudExtractedPlane
 Defines extracted 3D plane. More...
 

Typedefs

typedef struct dwPointCloudPlaneExtractorObject * dwPointCloudPlaneExtractorHandle_t
 

Functions

DW_API_PUBLIC dwStatus dwPCPlaneExtractor_initialize (dwPointCloudPlaneExtractorHandle_t *const obj, dwPointCloudPlaneExtractorParams const *const params, dwContextHandle_t const ctx)
 Initializes point cloud plane extractor. More...
 
DW_API_PUBLIC dwStatus dwPCPlaneExtractor_reset (dwPointCloudPlaneExtractorHandle_t const obj)
 Resets point cloud plane extractor. More...
 
DW_API_PUBLIC dwStatus dwPCPlaneExtractor_release (dwPointCloudPlaneExtractorHandle_t const obj)
 Releases point cloud plane extractor. More...
 
DW_API_PUBLIC dwStatus dwPCPlaneExtractor_getDefaultParameters (dwPointCloudPlaneExtractorParams *const params)
 Gets default point cloud plane extractor parameters. More...
 
DW_API_PUBLIC dwStatus dwPCPlaneExtractor_bindInput (dwPointCloud const *const pointCloud, dwPointCloudPlaneExtractorHandle_t const obj)
 Binds point cloud buffer to plane extractor. More...
 
DW_API_PUBLIC dwStatus dwPCPlaneExtractor_getCUDAStream (cudaStream_t *const stream, dwPointCloudPlaneExtractorHandle_t const obj)
 Gets CUDA stream of point cloud plane extractor. More...
 
DW_API_PUBLIC dwStatus dwPCPlaneExtractor_setCUDAStream (cudaStream_t const stream, dwPointCloudPlaneExtractorHandle_t const obj)
 Sets CUDA stream of point cloud plane extractor. More...
 
DW_API_PUBLIC dwStatus dwPCPlaneExtractor_bindOutput (dwPointCloud *const inliers, dwPointCloud *const outliers, dwPointCloudExtractedPlane *const outputPlane, dwPointCloudPlaneExtractorHandle_t const obj)
 Binds output buffers to point cloud plane extractor. More...
 
DW_API_PUBLIC dwStatus dwPCPlaneExtractor_process (dwPointCloudPlaneExtractorHandle_t const obj)
 Extracts 3D ground plane and stores the results to output buffer. More...
 
DW_API_PUBLIC DW_DEPRECATED ("dwPointCloudPlaneExtractor_initialize() is renamed / deprecated and will be removed in the next major release," " use dwPCPlaneExtractor_initialize() instead") dwStatus dwPointCloudPlaneExtractor_initialize(dwPointCloudPlaneExtractorHandle_t *const obj
 Initializes point cloud plane extractor. More...
 
DW_API_PUBLIC DW_DEPRECATED ("dwPointCloudPlaneExtractor_reset() is renamed / deprecated and will be removed in the next major release," " use dwPCPlaneExtractor_reset() instead") dwStatus dwPointCloudPlaneExtractor_reset(dwPointCloudPlaneExtractorHandle_t const obj)
 Resets point cloud plane extractor. More...
 
DW_API_PUBLIC DW_DEPRECATED ("dwPointCloudPlaneExtractor_release() is renamed / deprecated and will be removed in the next major release," " use dwPCPlaneExtractor_release() instead") dwStatus dwPointCloudPlaneExtractor_release(dwPointCloudPlaneExtractorHandle_t const obj)
 Releases point cloud plane extractor. More...
 
DW_API_PUBLIC DW_DEPRECATED ("dwPointCloudPlaneExtractor_getDefaultParameters() is renamed / deprecated and will be removed in the next major release," " use dwPCPlaneExtractor_getDefaultParameters() instead") dwStatus dwPointCloudPlaneExtractor_getDefaultParameters(dwPointCloudPlaneExtractorParams *const params)
 Gets default point cloud plane extractor parameters. More...
 
DW_API_PUBLIC DW_DEPRECATED ("dwPointCloudPlaneExtractor_bindInput() is renamed / deprecated and will be removed in the next major release," " use dwPCPlaneExtractor_bindInput() instead") dwStatus dwPointCloudPlaneExtractor_bindInput(dwPointCloud const *const pointCloud
 Binds point cloud buffer to plane extractor. More...
 
DW_API_PUBLIC DW_DEPRECATED ("dwPointCloudPlaneExtractor_getCUDAStream() is renamed / deprecated and will be removed in the next major release," " use dwPCPlaneExtractor_getCUDAStream() instead") dwStatus dwPointCloudPlaneExtractor_getCUDAStream(cudaStream_t *const stream
 Gets CUDA stream of point cloud plane extractor. More...
 
DW_API_PUBLIC DW_DEPRECATED ("dwPointCloudPlaneExtractor_setCUDAStream() is renamed / deprecated and will be removed in the next major release," " use dwPCPlaneExtractor_setCUDAStream() instead") dwStatus dwPointCloudPlaneExtractor_setCUDAStream(cudaStream_t const stream
 Sets CUDA stream of point cloud plane extractor. More...
 
DW_API_PUBLIC DW_DEPRECATED ("dwPointCloudPlaneExtractor_bindOutput() is renamed / deprecated and will be removed in the next major release," " use dwPCPlaneExtractor_bindOutput() instead") dwStatus dwPointCloudPlaneExtractor_bindOutput(dwPointCloud *const inliers
 Binds output buffers to point cloud plane extractor. More...
 
DW_API_PUBLIC DW_DEPRECATED ("dwPointCloudPlaneExtractor_process() is renamed / deprecated and will be removed in the next major release," " use dwPCPlaneExtractor_process() instead") dwStatus dwPointCloudPlaneExtractor_process(dwPointCloudPlaneExtractorHandle_t const obj)
 Extracts 3D ground plane and stores the results to output buffer. More...
 

Variables

DW_API_PUBLIC dwPointCloudPlaneExtractorParams const *const params
 
DW_API_PUBLIC dwPointCloudPlaneExtractorParams const *const const dwContextHandle_t ctx
 
DW_API_PUBLIC const dwPointCloudPlaneExtractorHandle_t obj
 
DW_API_PUBLIC dwPointCloud *const outliers
 
DW_API_PUBLIC dwPointCloud *const dwPointCloudExtractedPlane *const outputPlane
 

Typedef Documentation

◆ dwPointCloudPlaneExtractorHandle_t

typedef struct dwPointCloudPlaneExtractorObject* dwPointCloudPlaneExtractorHandle_t

Definition at line 40 of file PointCloudPlaneExtractor.h.

Function Documentation

◆ DW_DEPRECATED() [1/9]

DW_API_PUBLIC DW_DEPRECATED ( "dwPointCloudPlaneExtractor_bindInput() is renamed / deprecated and will be removed in the next major  release,
" " use dwPCPlaneExtractor_bindInput() instead"   
) const

Binds point cloud buffer to plane extractor.

Parameters
[in]pointCloudPointer to point cloud buffer
[in]objHandle to point cloud plane extractor
Returns
DW_SUCCESS
DW_INVALID_ARGUMENT

◆ DW_DEPRECATED() [2/9]

DW_API_PUBLIC DW_DEPRECATED ( "dwPointCloudPlaneExtractor_bindOutput() is renamed / deprecated and will be removed in the next major  release,
" " use dwPCPlaneExtractor_bindOutput() instead"   
) const

Binds output buffers to point cloud plane extractor.

Parameters
[out]inliersPointer to output buffer stores inlier points (optional, can be null)
[out]outliersPointer to output buffer stores outlier points (optional, can be null)
[out]outputPlanePointer to extracted 3D plane
[in]objHandle to point cloud plane extractor
Returns
DW_SUCCESS
DW_INVALID_ARGUMENT

◆ DW_DEPRECATED() [3/9]

DW_API_PUBLIC DW_DEPRECATED ( "dwPointCloudPlaneExtractor_getCUDAStream() is renamed / deprecated and will be removed in the next major  release,
" " use dwPCPlaneExtractor_getCUDAStream() instead"   
) const

Gets CUDA stream of point cloud plane extractor.

Parameters
[out]streamPointer to CUDA stream handle
[in]objHandle to point cloud plane extractor
Returns
DW_SUCCESS
DW_INVALID_ARGUMENT

◆ DW_DEPRECATED() [4/9]

DW_API_PUBLIC DW_DEPRECATED ( "dwPointCloudPlaneExtractor_getDefaultParameters() is renamed / deprecated and will be removed in the next major  release,
" " use dwPCPlaneExtractor_getDefaultParameters() instead"   
) const

Gets default point cloud plane extractor parameters.

Parameters
[in]paramsPointer to point cloud plane extractor parameter
Returns
DW_SUCCESS
DW_INVALID_ARGUMENT

◆ DW_DEPRECATED() [5/9]

DW_API_PUBLIC DW_DEPRECATED ( "dwPointCloudPlaneExtractor_initialize() is renamed / deprecated and will be removed in the next major  release,
" " use dwPCPlaneExtractor_initialize() instead"   
) const

Initializes point cloud plane extractor.

Parameters
[out]objHandle to point cloud plane extractor
[in]paramsPointer to point could plane extractor parameter
[in]ctxHandle to the context
Returns
DW_SUCCESS
DW_INVALID_ARGUMENT

◆ DW_DEPRECATED() [6/9]

DW_API_PUBLIC DW_DEPRECATED ( "dwPointCloudPlaneExtractor_process() is renamed / deprecated and will be removed in the next major  release,
" " use dwPCPlaneExtractor_process() instead"   
) const

Extracts 3D ground plane and stores the results to output buffer.

Parameters
[in]objHandle to point cloud plane extractor
Returns
DW_SUCCESS
DW_INVALID_ARGUMENT - input/output buffer memory type does not match with the variable cudaPipelineEnabled in dwPointCloudPlaneExtractorParams
DW_CALL_NOT_ALLOWED - user did not bind input buffer and output plane

◆ DW_DEPRECATED() [7/9]

DW_API_PUBLIC DW_DEPRECATED ( "dwPointCloudPlaneExtractor_release() is renamed / deprecated and will be removed in the next major  release,
" " use dwPCPlaneExtractor_release() instead"   
) const

Releases point cloud plane extractor.

Parameters
[in]objHandle to point cloud plane extractor
Returns
DW_SUCCESS
DW_INVALID_ARGUMENT

◆ DW_DEPRECATED() [8/9]

DW_API_PUBLIC DW_DEPRECATED ( "dwPointCloudPlaneExtractor_reset() is renamed / deprecated and will be removed in the next major  release,
" " use dwPCPlaneExtractor_reset() instead"   
) const

Resets point cloud plane extractor.

Parameters
[in]objHandle to point cloud plane extractor
Returns
DW_SUCCESS
DW_INVALID_ARGUMENT

◆ DW_DEPRECATED() [9/9]

DW_API_PUBLIC DW_DEPRECATED ( "dwPointCloudPlaneExtractor_setCUDAStream() is renamed / deprecated and will be removed in the next major  release,
" " use dwPCPlaneExtractor_setCUDAStream() instead"   
) const

Sets CUDA stream of point cloud plane extractor.

Parameters
[in]streamHandle to CUDA stream
[in]objHandle to point cloud plane extractor
Returns
DW_SUCCESS
DW_INVALID_ARGUMENT

◆ dwPCPlaneExtractor_bindInput()

DW_API_PUBLIC dwStatus dwPCPlaneExtractor_bindInput ( dwPointCloud const *const  pointCloud,
dwPointCloudPlaneExtractorHandle_t const  obj 
)

Binds point cloud buffer to plane extractor.

Parameters
[in]pointCloudPointer to point cloud buffer
[in]objHandle to point cloud plane extractor
Returns
DW_SUCCESS
DW_INVALID_ARGUMENT
API Group
  • Init: Yes
  • Runtime: Yes
  • De-Init: Yes

◆ dwPCPlaneExtractor_bindOutput()

DW_API_PUBLIC dwStatus dwPCPlaneExtractor_bindOutput ( dwPointCloud *const  inliers,
dwPointCloud *const  outliers,
dwPointCloudExtractedPlane *const  outputPlane,
dwPointCloudPlaneExtractorHandle_t const  obj 
)

Binds output buffers to point cloud plane extractor.

Parameters
[out]inliersPointer to output buffer stores inlier points (optional, can be null)
[out]outliersPointer to output buffer stores outlier points (optional, can be null)
[out]outputPlanePointer to extracted 3D plane
[in]objHandle to point cloud plane extractor
Returns
DW_SUCCESS
DW_INVALID_ARGUMENT
API Group
  • Init: Yes
  • Runtime: Yes
  • De-Init: Yes

◆ dwPCPlaneExtractor_getCUDAStream()

DW_API_PUBLIC dwStatus dwPCPlaneExtractor_getCUDAStream ( cudaStream_t *const  stream,
dwPointCloudPlaneExtractorHandle_t const  obj 
)

Gets CUDA stream of point cloud plane extractor.

Parameters
[out]streamPointer to CUDA stream handle
[in]objHandle to point cloud plane extractor
Returns
DW_SUCCESS
DW_INVALID_ARGUMENT
API Group
  • Init: Yes
  • Runtime: Yes
  • De-Init: Yes

◆ dwPCPlaneExtractor_getDefaultParameters()

DW_API_PUBLIC dwStatus dwPCPlaneExtractor_getDefaultParameters ( dwPointCloudPlaneExtractorParams *const  params)

Gets default point cloud plane extractor parameters.

Parameters
[in]paramsPointer to point cloud plane extractor parameter
Returns
DW_SUCCESS
DW_INVALID_ARGUMENT
API Group
  • Init: Yes
  • Runtime: Yes
  • De-Init: Yes

◆ dwPCPlaneExtractor_initialize()

DW_API_PUBLIC dwStatus dwPCPlaneExtractor_initialize ( dwPointCloudPlaneExtractorHandle_t *const  obj,
dwPointCloudPlaneExtractorParams const *const  params,
dwContextHandle_t const  ctx 
)

Initializes point cloud plane extractor.

Parameters
[out]objHandle to point cloud plane extractor
[in]paramsPointer to point could plane extractor parameter
[in]ctxHandle to the context
Returns
DW_SUCCESS
DW_INVALID_ARGUMENT
API Group
  • Init: Yes
  • Runtime: No
  • De-Init: No

◆ dwPCPlaneExtractor_process()

DW_API_PUBLIC dwStatus dwPCPlaneExtractor_process ( dwPointCloudPlaneExtractorHandle_t const  obj)

Extracts 3D ground plane and stores the results to output buffer.

Parameters
[in]objHandle to point cloud plane extractor
Returns
DW_SUCCESS
DW_INVALID_ARGUMENT - input/output buffer memory type does not match with the variable cudaPipelineEnabled in dwPointCloudPlaneExtractorParams
DW_CALL_NOT_ALLOWED - user did not bind input buffer and output plane
API Group
  • Init: Yes
  • Runtime: Yes
  • De-Init: Yes

◆ dwPCPlaneExtractor_release()

DW_API_PUBLIC dwStatus dwPCPlaneExtractor_release ( dwPointCloudPlaneExtractorHandle_t const  obj)

Releases point cloud plane extractor.

Parameters
[in]objHandle to point cloud plane extractor
Returns
DW_SUCCESS
DW_INVALID_ARGUMENT
API Group
  • Init: Yes
  • Runtime: No
  • De-Init: Yes

◆ dwPCPlaneExtractor_reset()

DW_API_PUBLIC dwStatus dwPCPlaneExtractor_reset ( dwPointCloudPlaneExtractorHandle_t const  obj)

Resets point cloud plane extractor.

Parameters
[in]objHandle to point cloud plane extractor
Returns
DW_SUCCESS
DW_INVALID_ARGUMENT
API Group
  • Init: Yes
  • Runtime: Yes
  • De-Init: Yes

◆ dwPCPlaneExtractor_setCUDAStream()

DW_API_PUBLIC dwStatus dwPCPlaneExtractor_setCUDAStream ( cudaStream_t const  stream,
dwPointCloudPlaneExtractorHandle_t const  obj 
)

Sets CUDA stream of point cloud plane extractor.

Parameters
[in]streamHandle to CUDA stream
[in]objHandle to point cloud plane extractor
Returns
DW_SUCCESS
DW_INVALID_ARGUMENT
API Group
  • Init: Yes
  • Runtime: Yes
  • De-Init: Yes

Variable Documentation

◆ ctx

DW_API_PUBLIC dwPointCloudPlaneExtractorParams const* const const dwContextHandle_t ctx

Definition at line 235 of file PointCloudPlaneExtractor.h.

◆ obj

DW_API_PUBLIC dwPointCloud* const dwPointCloudExtractedPlane* const const dwPointCloudPlaneExtractorHandle_t obj

Definition at line 285 of file PointCloudPlaneExtractor.h.

◆ outliers

DW_API_PUBLIC dwPointCloud* const outliers

Definition at line 328 of file PointCloudPlaneExtractor.h.

◆ outputPlane

DW_API_PUBLIC dwPointCloud* const dwPointCloudExtractedPlane* const outputPlane

Definition at line 329 of file PointCloudPlaneExtractor.h.

◆ params

DW_API_PUBLIC dwPointCloudPlaneExtractorParams const* const params

Definition at line 234 of file PointCloudPlaneExtractor.h.