Detailed Description

Defines lidar point cloud structure.

Defines point cloud assembling module.

Defines point cloud processing datatypes and memory handling functions.

Defines point cloud motion compensation module.

Data Structures
struct	dwLidarMotionCompensationInfo
	Declares motion compensation traits of the point cloud. More...

struct	dwLidarPointCloudMapping
	Struct indicating layer and aux channel mapping. More...

struct	dwLidarPointCloud
	Defines a LIDAR-specific point cloud data structure. More...

struct	dwMotionCompensatorParams
	Defines point cloud motion compensator parameters. More...

struct	dwPointCloudLayer
	Struct holding information about a single point cloud layer. More...

struct	dwPointCloudAuxChannel
	Struct holding information about aux channel. More...

struct	dwPointCloud
	Defines point cloud data structure. More...

struct	dwPointCloudAssemblerParams
	Initialization parameters. More...

Modules
	Point Cloud Accumulator
	Defines datatypes and functions to accumulate cloud of points.

	Point Cloud Depth Map

	Point Cloud Depth Map Creator
	Defines module to produce depth map via spherical projection of the point cloud.

	Point Cloud Filter
	Defines module to perform point cloud box filtering.

	Point Cloud ICP
	Defines Point Cloud ICP module to align point clouds using iterative closest point algorithms.

	Point Cloud Plane Extractor
	Defines module to extract one 3D plane nearby the sensor.

	Point Cloud Range Image Creator
	Defines module to produce range image via spherical projection of the point cloud.

	Point Cloud Stitcher
	Defines module to register/stitch multiple sets of point clouds.

Macros
#define	DW_LIDAR_POINT_CLOUD_USER_DATA_SIZE 8
	Number of elements in user buffer. More...

#define	DW_POINT_CLOUD_MAX_LAYERS 16U

#define	DW_POINT_CLOUD_MAX_AUX_CHANNELS 16U

Typedefs
typedef struct dwLidarPointCloud	dwLidarPointCloud
	Defines a LIDAR-specific point cloud data structure. More...

typedef struct dwMotionCompensatorObject *	dwMotionCompensatorHandle_t

typedef struct dwMotionCompensatorObject const *	dwMotionCompensatorConstHandle_t

typedef struct dwPointCloudAssemblerObject *	dwPointCloudAssemblerHandle_t

typedef struct dwPointCloudAssemblerObject const *	dwPointCloudAssemblerConstHandle_t

Enumerations
enum	dwPointCloudReferenceFrame { DW_POINTCLOUD_REFERENCE_FRAME_SENSOR = 0, DW_POINTCLOUD_REFERENCE_FRAME_RIG = 1, DW_POINTCLOUD_REFERENCE_FRAME_CUSTOM = 2 }
	Defines point cloud coordinate reference frame. More...

enum	dwMotionCompensatorInterpolationStrategy { DW_PC_MOTION_COMPENSATOR_INTERPOLATION_LINEAR = 0 }
	Defines transform interpolation strategy. More...

enum	dwPointCloudFormat { DW_POINTCLOUD_FORMAT_XYZI = 0, DW_POINTCLOUD_FORMAT_RTHI = 1 }
	Defines point format. More...

Functions
DW_API_PUBLIC dwStatus	dwLidarPointCloud_create (dwLidarPointCloud lidarPointCloud, dwPointCloudFormat const format, dwMemoryType const memoryType, uint32_t const maxPointsPerReturn, dwLidarPointCloudMapping const mapping)
	Create lidar specific point cloud. More...

DW_API_PUBLIC dwStatus	dwLidarPointCloud_destroy (dwLidarPointCloud *lidarPointCloud)
	Destroy lidar specific point cloud. More...

DW_API_PUBLIC dwStatus	dwLidarPointCloud_getLidarPointStride (uint32_t *size, dwPointCloudFormat const format)
	Get the size of the lidar point cloud data type. More...

DW_API_PUBLIC dwStatus	dwMotionCompensator_getDefaultParams (dwMotionCompensatorParams params, dwLidarProperties const lidarProps)
	Get default parameters for motion compensator. More...

DW_API_PUBLIC dwStatus	dwMotionCompensator_initialize (dwMotionCompensatorHandle_t obj, dwMotionCompensatorParams const params, dwContextHandle_t ctx)
	Initialize motion compensator module. More...

DW_API_PUBLIC dwStatus	dwMotionCompensator_reset (dwMotionCompensatorHandle_t obj)
	Reset motion compensator. More...

DW_API_PUBLIC dwStatus	dwMotionCompensator_release (dwMotionCompensatorHandle_t obj)
	Release motion compensator. More...

DW_API_PUBLIC dwStatus	dwMotionCompensator_setCUDAStream (const cudaStream_t stream, dwMotionCompensatorHandle_t obj)
	Set CUDA stream of motion compensator. More...

DW_API_PUBLIC dwStatus	dwMotionCompensator_getCUDAStream (cudaStream_t *stream, dwMotionCompensatorConstHandle_t obj)
	Get CUDA stream of motion compensator. More...

DW_API_PUBLIC dwStatus	dwMotionCompensator_bindEgomotionState (dwConstEgomotionStateHandle_t motionState, dwMotionCompensatorHandle_t obj)
	Bind egomotion state handle. More...

DW_API_PUBLIC dwStatus	dwMotionCompensator_setTransform (dwTransformation3f const *transform, dwMotionCompensatorHandle_t obj)
	Update point cloud transformation to egomotion coordinate frame. More...

DW_API_PUBLIC dwStatus	dwMotionCompensator_setReferenceTimestamp (dwTime_t const timestamp, dwMotionCompensatorHandle_t obj)
	Set reference time for motion compensation. More...

DW_API_PUBLIC dwStatus	dwMotionCompensator_bindInput (dwPointCloud const *pointCloud, uint32_t const timestampChannelIndex, dwMotionCompensatorHandle_t obj)
	Bind input point cloud. More...

DW_API_PUBLIC dwStatus	dwMotionCompensator_bindInputLidarPointCloud (dwLidarPointCloud const *pointCloud, dwMotionCompensatorHandle_t obj)
	Bind input lidar point cloud. More...

DW_API_PUBLIC dwStatus	dwMotionCompensator_bindOutput (dwPointCloud *pointCloud, dwMotionCompensatorHandle_t obj)
	Bind output point cloud. More...

DW_API_PUBLIC dwStatus	dwMotionCompensator_bindOutputLidarPointCloud (dwLidarPointCloud *pointCloud, dwMotionCompensatorHandle_t obj)
	Bind output lidar point cloud. More...

DW_API_PUBLIC dwStatus	dwMotionCompensator_process (dwMotionCompensatorHandle_t obj)
	Perform motion compensation. More...

DW_API_PUBLIC dwStatus	dwPointCloud_createBuffer (dwPointCloud *buffer)
	Allocates memory for point cloud data structure. More...

DW_API_PUBLIC dwStatus	dwPointCloud_destroyBuffer (dwPointCloud *buffer)
	Destroys allocated memory for point cloud data structure. More...

DW_API_PUBLIC dwStatus	dwPointCloud_create (dwPointCloud pointCloud, dwPointCloudFormat const format, dwMemoryType const memoryType, uint32_t const maxPointsPerLayer, uint32_t const numRequestedLayers, uint32_t const auxChannelsElemSize, uint32_t const numRequestedAuxChannels)
	Create point cloud with layers and aux channel information. More...

DW_API_PUBLIC dwStatus	dwPointCloud_destroy (dwPointCloud *pointCloud)
	Destroy point cloud buffers. More...

DW_API_PUBLIC dwStatus	dwPointCloud_getPointStride (uint32_t *size)
	Get the size of the point cloud data type. More...

DW_API_PUBLIC dwStatus	dwPointCloudAssembler_getDefaultParams (dwPointCloudAssemblerParams const params, dwLidarProperties const const lidarProperties)
	Get default initialization parameters for specified lidar device. More...

DW_API_PUBLIC dwStatus	dwPointCloudAssembler_initialize (dwPointCloudAssemblerHandle_t const obj, dwPointCloudAssemblerParams const const params, dwLidarProperties const *const lidarProperties, dwContextHandle_t const ctx)
	Initialize point cloud assembler module. More...

DW_API_PUBLIC dwStatus	dwPointCloudAssembler_reset (dwPointCloudAssemblerHandle_t const obj)
	Reset point cloud assembler. More...

DW_API_PUBLIC dwStatus	dwPointCloudAssembler_release (dwPointCloudAssemblerHandle_t const obj)
	Release point cloud assembler. More...

DW_API_PUBLIC dwStatus	dwPointCloudAssembler_setCUDAStream (cudaStream_t const stream, dwPointCloudAssemblerHandle_t const obj)
	Set CUDA stream of point cloud assembler. More...

DW_API_PUBLIC dwStatus	dwPointCloudAssembler_getCUDAStream (cudaStream_t *const stream, dwPointCloudAssemblerConstHandle_t const obj)
	Get CUDA stream of point cloud assembler. More...

DW_API_PUBLIC dwStatus	dwPointCloudAssembler_bindOutput (dwPointCloud *const pointCloud, dwPointCloudAssemblerHandle_t const obj)
	Bind output point cloud. More...

DW_API_PUBLIC dwStatus	dwPointCloudAssembler_bindLidarPointCloud (dwLidarPointCloud *const pointCloud, dwPointCloudAssemblerHandle_t const obj)
	Bind output lidar specific point cloud. More...

DW_API_PUBLIC dwStatus	dwPointCloudAssembler_addLidarPacket (dwLidarDecodedPacket const *const packet, dwPointCloudAssemblerHandle_t const obj)
	Push lidar packet to point cloud assembler. More...

DW_API_PUBLIC dwStatus	dwPointCloudAssembler_isReady (bool *const isReady, dwPointCloudAssemblerConstHandle_t const obj)
	Indicate that lidar frame has been accumulated. More...

DW_API_PUBLIC dwStatus	dwPointCloudAssembler_process (dwPointCloudAssemblerHandle_t const obj)
	Perform processing of accumulated data. More...

Macro Definition Documentation

◆ DW_LIDAR_POINT_CLOUD_USER_DATA_SIZE

#define DW_LIDAR_POINT_CLOUD_USER_DATA_SIZE 8

Number of elements in user buffer.

Definition at line 75 of file LidarPointCloud.h.

◆ DW_POINT_CLOUD_MAX_AUX_CHANNELS

#define DW_POINT_CLOUD_MAX_AUX_CHANNELS 16U

Definition at line 75 of file PointCloud.h.

◆ DW_POINT_CLOUD_MAX_LAYERS

#define DW_POINT_CLOUD_MAX_LAYERS 16U

Definition at line 74 of file PointCloud.h.

Typedef Documentation

◆ dwLidarPointCloud

typedef struct dwLidarPointCloud dwLidarPointCloud

Defines a LIDAR-specific point cloud data structure.

◆ dwMotionCompensatorConstHandle_t

typedef struct dwMotionCompensatorObject const* dwMotionCompensatorConstHandle_t

Definition at line 39 of file MotionCompensator.h.

◆ dwMotionCompensatorHandle_t

typedef struct dwMotionCompensatorObject* dwMotionCompensatorHandle_t

Definition at line 38 of file MotionCompensator.h.

◆ dwPointCloudAssemblerConstHandle_t

typedef struct dwPointCloudAssemblerObject const* dwPointCloudAssemblerConstHandle_t

Definition at line 39 of file PointCloudAssembler.h.

◆ dwPointCloudAssemblerHandle_t

typedef struct dwPointCloudAssemblerObject* dwPointCloudAssemblerHandle_t

Definition at line 38 of file PointCloudAssembler.h.

Enumeration Type Documentation

◆ dwMotionCompensatorInterpolationStrategy

enum dwMotionCompensatorInterpolationStrategy

Defines transform interpolation strategy.

Enumerator
DW_PC_MOTION_COMPENSATOR_INTERPOLATION_LINEAR	Default interpolation strategy applying linear interpolation.

Definition at line 44 of file MotionCompensator.h.

◆ dwPointCloudFormat

enum dwPointCloudFormat

Defines point format.

Enumerator
DW_POINTCLOUD_FORMAT_XYZI	Cartesian 3D coordinate + intensity.
DW_POINTCLOUD_FORMAT_RTHI	Polar 3D coordinate + intensity.

Definition at line 42 of file PointCloud.h.

◆ dwPointCloudReferenceFrame

enum dwPointCloudReferenceFrame

Defines point cloud coordinate reference frame.

Enumerator
DW_POINTCLOUD_REFERENCE_FRAME_SENSOR	Coordinate frame with the sensor at the origin.
DW_POINTCLOUD_REFERENCE_FRAME_RIG	Coordinate frame with the ego vehicle at the origin.
DW_POINTCLOUD_REFERENCE_FRAME_CUSTOM	Custom coordinate reference frame.

Definition at line 41 of file LidarPointCloud.h.

Function Documentation

◆ dwLidarPointCloud_create()

DW_API_PUBLIC dwStatus dwLidarPointCloud_create	(	dwLidarPointCloud *	lidarPointCloud,
		dwPointCloudFormat const	format,
		dwMemoryType const	memoryType,
		uint32_t const	maxPointsPerReturn,
		dwLidarPointCloudMapping const *	mapping
	)

Create lidar specific point cloud.

Parameters

[out]	lidarPointCloud	Point cloud to be created
[in]	format	Point cloud format XYZI or RTHI
[in]	memoryType	Point cloud memory type, CUDA, CPU or PINNED
[in]	maxPointsPerReturn	Maximum number of points in single lidar return
[in]	mapping	Return and aux data mapping

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT If provided pointer to point cloud is null

API Group

Init: Yes
Runtime: No
De-Init: No

◆ dwLidarPointCloud_destroy()

DW_API_PUBLIC dwStatus dwLidarPointCloud_destroy ( dwLidarPointCloud * lidarPointCloud )

Destroy lidar specific point cloud.

Parameters

[in] lidarPointCloud A pointer to point cloud

Note: The call releases all the memory associated with point cloud.

Returns: DW_SUCCESS
DW_INVALID_HANDLE

API Group

Init: Yes
Runtime: No
De-Init: Yes

◆ dwLidarPointCloud_getLidarPointStride()

DW_API_PUBLIC dwStatus dwLidarPointCloud_getLidarPointStride	(	uint32_t *	size,
		dwPointCloudFormat const	format
	)

Get the size of the lidar point cloud data type.

Parameters

[out]	size	number of bytes in a point
[in]	format	describes the values used to represent a point in a point cloud

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT If provided pointer is null or provided enum is invalid

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwMotionCompensator_bindEgomotionState()

DW_API_PUBLIC dwStatus dwMotionCompensator_bindEgomotionState	(	dwConstEgomotionStateHandle_t	motionState,
		dwMotionCompensatorHandle_t	obj
	)

Bind egomotion state handle.

Parameters

[out]	motionState	A handle to egomotion state
[in]	obj	Motion compensator handle

Returns: DW_INVALID_HANDLE - if one of given handles is invalid
DW_SUCCESS - in all other cases

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwMotionCompensator_bindInput()

DW_API_PUBLIC dwStatus dwMotionCompensator_bindInput	(	dwPointCloud const *	pointCloud,
		uint32_t const	timestampChannelIndex,
		dwMotionCompensatorHandle_t	obj
	)

Bind input point cloud.

Parameters

[out]	pointCloud	Input point cloud
[in]	timestampChannelIndex	Index of aux channel holding timestamp information
[in]	obj	Motion compensator handle

Returns: DW_INVALID_HANDLE - if one of given handles is invalid
DW_SUCCESS - in all other cases

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwMotionCompensator_bindInputLidarPointCloud()

DW_API_PUBLIC dwStatus dwMotionCompensator_bindInputLidarPointCloud	(	dwLidarPointCloud const *	pointCloud,
		dwMotionCompensatorHandle_t	obj
	)

Bind input lidar point cloud.

Parameters

[out]	pointCloud	Input lidar point cloud
[in]	obj	Motion compensator handle

Returns: DW_INVALID_HANDLE - if one of given handles is invalid
DW_SUCCESS - in all other cases

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwMotionCompensator_bindOutput()

DW_API_PUBLIC dwStatus dwMotionCompensator_bindOutput	(	dwPointCloud *	pointCloud,
		dwMotionCompensatorHandle_t	obj
	)

Bind output point cloud.

Parameters

[out]	pointCloud	Output point cloud
[in]	obj	Motion compensator handle

Returns: DW_INVALID_HANDLE - if one of given handles is invalid
DW_SUCCESS - in all other cases

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwMotionCompensator_bindOutputLidarPointCloud()

DW_API_PUBLIC dwStatus dwMotionCompensator_bindOutputLidarPointCloud	(	dwLidarPointCloud *	pointCloud,
		dwMotionCompensatorHandle_t	obj
	)

Bind output lidar point cloud.

Parameters

[out]	pointCloud	Output lidar point cloud
[in]	obj	Motion compensator handle

Returns: DW_INVALID_HANDLE - if one of given handles is invalid
DW_SUCCESS - in all other cases

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwMotionCompensator_getCUDAStream()

DW_API_PUBLIC dwStatus dwMotionCompensator_getCUDAStream	(	cudaStream_t *	stream,
		dwMotionCompensatorConstHandle_t	obj
	)

Get CUDA stream of motion compensator.

Parameters

[out]	stream	Pointer to CUDA stream handle
[in]	obj	Motion compensator handle

Returns: DW_INVALID_HANDLE - if given handle is invalid
DW_CALL_NOT_ALLOWED - motion compensator is initialized to process host memory
DW_SUCCESS - in all other cases

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwMotionCompensator_getDefaultParams()

DW_API_PUBLIC dwStatus dwMotionCompensator_getDefaultParams	(	dwMotionCompensatorParams *	params,
		dwLidarProperties const *	lidarProps
	)

Get default parameters for motion compensator.

Parameters

[out]	params	Pointer to parameters structure
[in]	lidarProps	Lidar properties the module is supposed to be used with

Returns: DW_INVALID_ARGUMENT - if given pointer is NULL
DW_SUCCESS - in all other cases

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwMotionCompensator_initialize()

DW_API_PUBLIC dwStatus dwMotionCompensator_initialize	(	dwMotionCompensatorHandle_t *	obj,
		dwMotionCompensatorParams const *	params,
		dwContextHandle_t	ctx
	)

Initialize motion compensator module.

Parameters

[out]	obj	Pointer to motion compensator handle
[in]	params	Initialization parameters
[in]	ctx	Handle to the context

Returns: DW_INVALID_ARGUMENT - if given pointer is NULL
DW_INVALID_HANDLE - if given handle is invalid
DW_SUCCESS - in all other cases

API Group

Init: Yes
Runtime: No
De-Init: No

◆ dwMotionCompensator_process()

DW_API_PUBLIC dwStatus dwMotionCompensator_process ( dwMotionCompensatorHandle_t obj )

Perform motion compensation.

Parameters

[in] obj Module handle

Returns: DW_INVALID_HANDLE - if given handle is invalid
DW_CALL_NOT_ALLOWED - if input or output is not bound or their memory type is different DW_SUCCESS - in all other cases

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwMotionCompensator_release()

DW_API_PUBLIC dwStatus dwMotionCompensator_release ( dwMotionCompensatorHandle_t obj )

Release motion compensator.

Parameters

[in] obj Motion compensator handle

Returns: DW_INVALID_HANDLE - if given handle is invalid
DW_SUCCESS - in all other cases

API Group

Init: Yes
Runtime: No
De-Init: Yes

◆ dwMotionCompensator_reset()

DW_API_PUBLIC dwStatus dwMotionCompensator_reset ( dwMotionCompensatorHandle_t obj )

Reset motion compensator.

Parameters

[in] obj Motion compensator handle

Returns: DW_INVALID_HANDLE - if given handle is invalid
DW_SUCCESS - in all other cases

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwMotionCompensator_setCUDAStream()

DW_API_PUBLIC dwStatus dwMotionCompensator_setCUDAStream	(	const cudaStream_t	stream,
		dwMotionCompensatorHandle_t	obj
	)

Set CUDA stream of motion compensator.

Parameters

[in]	stream	Handle to CUDA stream
[in]	obj	Motion compensator handle

Returns: DW_INVALID_HANDLE - if given handle is invalid
DW_CALL_NOT_ALLOWED - motion compensator is initialized to process host memory
DW_SUCCESS - in all other cases

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwMotionCompensator_setReferenceTimestamp()

DW_API_PUBLIC dwStatus dwMotionCompensator_setReferenceTimestamp	(	dwTime_t const	timestamp,
		dwMotionCompensatorHandle_t	obj
	)

Set reference time for motion compensation.

Parameters

[out]	timestamp	Timestamp for motion compensation
[in]	obj	Motion compensator handle

Returns: DW_INVALID_HANDLE - if one of given handles is invalid
DW_SUCCESS - in all other cases

Note: By default ending point cloud timestamp is used as a reference

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwMotionCompensator_setTransform()

DW_API_PUBLIC dwStatus dwMotionCompensator_setTransform	(	dwTransformation3f const *	transform,
		dwMotionCompensatorHandle_t	obj
	)

Update point cloud transformation to egomotion coordinate frame.

Parameters

[in]	transform	Transformation aligning the lidar sensor with the platform that produces the egomotion
[in]	obj	Motion compensator handle

Returns: DW_INVALID_HANDLE - if one of given handles is invalid
DW_SUCCESS - in all other cases

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwPointCloud_create()

DW_API_PUBLIC dwStatus dwPointCloud_create	(	dwPointCloud *	pointCloud,
		dwPointCloudFormat const	format,
		dwMemoryType const	memoryType,
		uint32_t const	maxPointsPerLayer,
		uint32_t const	numRequestedLayers,
		uint32_t const *	auxChannelsElemSize,
		uint32_t const	numRequestedAuxChannels
	)

Create point cloud with layers and aux channel information.

Parameters

[out]	pointCloud	Point cloud to be created
[in]	format	Point cloud format XYZI or RTHI
[in]	memoryType	Point cloud memory type, CUDA, CPU or PINNED
[in]	maxPointsPerLayer	Maximum number of points in single layer
[in]	numRequestedLayers	Number of layer in a point cloud
[in]	auxChannelsElemSize	An array of auxiliary channel elements sizes
[in]	numRequestedAuxChannels	Number of requested aux channels

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT If provided pointer to point cloud is null

API Group

Init: Yes
Runtime: No
De-Init: No

◆ dwPointCloud_createBuffer()

DW_API_PUBLIC dwStatus dwPointCloud_createBuffer ( dwPointCloud * buffer )

Allocates memory for point cloud data structure.

Parameters

[out] buffer Pointer to dwPointCloud

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

Note

User must specify the followings for the argument buffer:

The member variable capacity to indicate the memory allocation size
The member variable type to indicate the memory type, either host memory or device memory

Upon successful return, this API will set size to zero to indicate it contains no element in the memory By default this API will set organized to false

This API does not add any information on point cloud layers and auxiliary channels. Upon successful return numLayers and numAuxChannelsare both set to zero.

API Group

Init: Yes
Runtime: No
De-Init: No

◆ dwPointCloud_destroy()

DW_API_PUBLIC dwStatus dwPointCloud_destroy ( dwPointCloud * pointCloud )

Destroy point cloud buffers.

Parameters

[in] pointCloud A pointer to point cloud

Note: The call releases all the memory associated with point cloud.

Returns: DW_SUCCESS
DW_INVALID_HANDLE

API Group

Init: Yes
Runtime: No
De-Init: Yes

◆ dwPointCloud_destroyBuffer()

DW_API_PUBLIC dwStatus dwPointCloud_destroyBuffer ( dwPointCloud * buffer )

Destroys allocated memory for point cloud data structure.

Parameters

[out] buffer Pointer to dwPointCloud

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

API Group

Init: Yes
Runtime: No
De-Init: Yes

◆ dwPointCloud_getPointStride()

DW_API_PUBLIC dwStatus dwPointCloud_getPointStride ( uint32_t * size )

Get the size of the point cloud data type.

Parameters

[out] size Number of bytes in a point

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT If provided pointer to size is null

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwPointCloudAssembler_addLidarPacket()

DW_API_PUBLIC dwStatus dwPointCloudAssembler_addLidarPacket	(	dwLidarDecodedPacket const *const	packet,
		dwPointCloudAssemblerHandle_t const	obj
	)

Push lidar packet to point cloud assembler.

Parameters

[in]	packet	Pointer to decoded lidar packet
[in]	obj	Module handle

Returns: DW_SUCCESS - if successfully added packet
DW_INVALID_ARGUMENT - the values included in decoded lidar packet do not match the ones in the lidar properties

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwPointCloudAssembler_bindLidarPointCloud()

DW_API_PUBLIC dwStatus dwPointCloudAssembler_bindLidarPointCloud	(	dwLidarPointCloud *const	pointCloud,
		dwPointCloudAssemblerHandle_t const	obj
	)

Bind output lidar specific point cloud.

Parameters

[out]	pointCloud	Lidar point cloud
[in]	obj	Module handle

Returns: DW_SUCCESS - if successfully bound output point cloud
DW_INVALID_HANDLE - if given handle is invalid
DW_INVALID_ARGUMENT - if trying to bind GPU point cloud when cuda is not is not enabled at initialization or mapping structure is not correct

Note: Mapping structures within a point cloud must match or extend mapping specified at initialization.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwPointCloudAssembler_bindOutput()

DW_API_PUBLIC dwStatus dwPointCloudAssembler_bindOutput	(	dwPointCloud *const	pointCloud,
		dwPointCloudAssemblerHandle_t const	obj
	)

Bind output point cloud.

Parameters

[out]	pointCloud	Lidar point cloud
[in]	obj	Module handle

Returns: DW_SUCCESS - if successfully bound output point cloud
DW_INVALID_HANDLE - if given handle is invalid
DW_INVALID_ARGUMENT - if trying to bind GPU point cloud when cuda is not is not enabled at initialization

Note: Output points are either XYZI or RTHI points depending on the format of bound point cloud.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwPointCloudAssembler_getCUDAStream()

DW_API_PUBLIC dwStatus dwPointCloudAssembler_getCUDAStream	(	cudaStream_t *const	stream,
		dwPointCloudAssemblerConstHandle_t const	obj
	)

Get CUDA stream of point cloud assembler.

Parameters

[out]	stream	Pointer to CUDA stream handle
[in]	obj	Module handle

Returns: DW_INVALID_HANDLE - if given handle is invalid
DW_CALL_NOT_ALLOWED - point cloud assembler is initialized to process host memory
DW_SUCCESS

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwPointCloudAssembler_getDefaultParams()

DW_API_PUBLIC dwStatus dwPointCloudAssembler_getDefaultParams	(	dwPointCloudAssemblerParams *const	params,
		dwLidarProperties const *const	lidarProperties
	)

Get default initialization parameters for specified lidar device.

Parameters

[out]	params	Initialization parameters
[in]	lidarProperties	Lidar properties

Returns: DW_INVALID_ARGUMENT - if one of the given pointers is NULL
DW_SUCCESS

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwPointCloudAssembler_initialize()

DW_API_PUBLIC dwStatus dwPointCloudAssembler_initialize	(	dwPointCloudAssemblerHandle_t *const	obj,
		dwPointCloudAssemblerParams const *const	params,
		dwLidarProperties const *const	lidarProperties,
		dwContextHandle_t const	ctx
	)

Initialize point cloud assembler module.

Parameters

[out]	obj	Pointer to point cloud assembler handle
[in]	params	Initialization parameters
[in]	lidarProperties	Input lidar properties
[in]	ctx	Handle to the context

Returns: DW_INVALID_ARGUMENT - if one of the given pointers is NULL
DW_SUCCESS

API Group

Init: Yes
Runtime: No
De-Init: No

◆ dwPointCloudAssembler_isReady()

DW_API_PUBLIC dwStatus dwPointCloudAssembler_isReady	(	bool *const	isReady,
		dwPointCloudAssemblerConstHandle_t const	obj
	)

Indicate that lidar frame has been accumulated.

Parameters

[out]	isReady	If `true` frame has been accumulated
[in]	obj	Module handle

Returns: DW_INVALID_HANDLE - if given handle is invalid
DW_INVALID_ARGUMENT - if provided pointer to a packet is nullptr
DW_SUCCESS

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwPointCloudAssembler_process()

DW_API_PUBLIC dwStatus dwPointCloudAssembler_process ( dwPointCloudAssemblerHandle_t const obj )

Perform processing of accumulated data.

Parameters

[in] obj Module handle

Returns: DW_INVALID_HANDLE - if given handle is invalid
DW_NOT_READY - if accumulation is not complete, i.e. dwPointCloudAssembler_isReady returns false DW_CALL_NOT_ALLOWED - if output is not bound DW_SUCCESS

Note: The function return the most recent full spin in output point cloud.

Example:

Arrived packets | First process call | Second process call 0,1,2*,3,4* | {2,3} | DW_NOT_READY 0,1,2*,3,4*,5 | {2,3} | DW_NOT_READY 0,1,2*,3,4*,5,6* | {4,5} | DW_NOT_READY

where numbers denote packet ids and (*) denotes if the packet has zero crossing flag set to true.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwPointCloudAssembler_release()

DW_API_PUBLIC dwStatus dwPointCloudAssembler_release ( dwPointCloudAssemblerHandle_t const obj )

Release point cloud assembler.

Parameters

[in] obj Module handle

Returns: DW_INVALID_HANDLE - if given handle is invalid
DW_SUCCESS

API Group

Init: Yes
Runtime: No
De-Init: Yes

◆ dwPointCloudAssembler_reset()

DW_API_PUBLIC dwStatus dwPointCloudAssembler_reset ( dwPointCloudAssemblerHandle_t const obj )

Reset point cloud assembler.

Parameters

[in] obj Module handle

Returns: DW_INVALID_HANDLE - if given handle is invalid
DW_SUCCESS

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwPointCloudAssembler_setCUDAStream()

DW_API_PUBLIC dwStatus dwPointCloudAssembler_setCUDAStream	(	cudaStream_t const	stream,
		dwPointCloudAssemblerHandle_t const	obj
	)

Set CUDA stream of point cloud assembler.

Parameters

[in]	stream	Handle to CUDA stream
[in]	obj	Module handle

Returns: DW_INVALID_HANDLE - if given handle is invalid
DW_CALL_NOT_ALLOWED - point cloud assembler is initialized to process host memory
DW_SUCCESS

API Group

Init: Yes
Runtime: Yes
De-Init: Yes


NVIDIA DriveOS Linux NSR SDK API Reference	7.0.3.0 Release

NVIDIA DriveOS Linux NSR SDK API Reference

7.0.3.0 Release

Detailed Description

Data Structures

Modules

Macros

Typedefs

Enumerations

Functions

Macro Definition Documentation

◆ DW_LIDAR_POINT_CLOUD_USER_DATA_SIZE

◆ DW_POINT_CLOUD_MAX_AUX_CHANNELS

◆ DW_POINT_CLOUD_MAX_LAYERS

Typedef Documentation

◆ dwLidarPointCloud

◆ dwMotionCompensatorConstHandle_t

◆ dwMotionCompensatorHandle_t

◆ dwPointCloudAssemblerConstHandle_t

◆ dwPointCloudAssemblerHandle_t

Enumeration Type Documentation

◆ dwMotionCompensatorInterpolationStrategy

◆ dwPointCloudFormat

◆ dwPointCloudReferenceFrame

Function Documentation

◆ dwLidarPointCloud_create()

◆ dwLidarPointCloud_destroy()

◆ dwLidarPointCloud_getLidarPointStride()

◆ dwMotionCompensator_bindEgomotionState()

◆ dwMotionCompensator_bindInput()

◆ dwMotionCompensator_bindInputLidarPointCloud()

◆ dwMotionCompensator_bindOutput()

◆ dwMotionCompensator_bindOutputLidarPointCloud()

◆ dwMotionCompensator_getCUDAStream()

◆ dwMotionCompensator_getDefaultParams()

◆ dwMotionCompensator_initialize()

◆ dwMotionCompensator_process()

◆ dwMotionCompensator_release()

◆ dwMotionCompensator_reset()

◆ dwMotionCompensator_setCUDAStream()

◆ dwMotionCompensator_setReferenceTimestamp()

◆ dwMotionCompensator_setTransform()

◆ dwPointCloud_create()

◆ dwPointCloud_createBuffer()

◆ dwPointCloud_destroy()

◆ dwPointCloud_destroyBuffer()

◆ dwPointCloud_getPointStride()

◆ dwPointCloudAssembler_addLidarPacket()

◆ dwPointCloudAssembler_bindLidarPointCloud()

◆ dwPointCloudAssembler_bindOutput()

◆ dwPointCloudAssembler_getCUDAStream()

◆ dwPointCloudAssembler_getDefaultParams()

◆ dwPointCloudAssembler_initialize()

◆ dwPointCloudAssembler_isReady()

◆ dwPointCloudAssembler_process()

◆ dwPointCloudAssembler_release()

◆ dwPointCloudAssembler_reset()

◆ dwPointCloudAssembler_setCUDAStream()