NVIDIA DriveOS Linux NSR SDK API Reference
7.0.3.0 Release
Data Structures | Typedefs | Enumerations | Functions | Variables
Point Cloud Range Image Creator
DriveWorks » Point Cloud Processing Interface

Detailed Description

Defines module to produce range image via spherical projection of the point cloud.

Data Structures

struct  dwPointCloudRangeImageClippingParams
 Defines range image clipping parameters. More...
 
struct  dwPointCloudRangeImageCreatorParams
 Defines point cloud range image creator parameters. More...
 

Typedefs

typedef struct dwPointCloudRangeImageCreatorObject * dwPointCloudRangeImageCreatorHandle_t
 
typedef const struct dwPointCloudRangeImageCreatorObject * dwConstPointCloudRangeImageCreatorHandle_t
 
typedef const NvSciSyncObj *const obj
 

Enumerations

enum  dwPointCloudRangeImageType {
  DW_POINT_CLOUD_IMAGE_TYPE_DISTANCE = 0,
  DW_POINT_CLOUD_IMAGE_TYPE_INTENSITY = 1,
  DW_POINT_CLOUD_IMAGE_TYPE_2D_GRID = 2
}
 Definition of the image type of Lidar cylindrical projection image. More...
 

Functions

DW_API_PUBLIC dwStatus dwPCRangeImageCreator_initialize (dwPointCloudRangeImageCreatorHandle_t *const obj, dwPointCloudRangeImageCreatorParams const *const params, dwContextHandle_t const ctx)
 Initializes range image creator. More...
 
DW_API_PUBLIC dwStatus dwPCRangeImageCreator_reset (dwPointCloudRangeImageCreatorHandle_t const obj)
 Resets range image creator. More...
 
DW_API_PUBLIC dwStatus dwPCRangeImageCreator_release (dwPointCloudRangeImageCreatorHandle_t const obj)
 Releases range image creator. More...
 
DW_API_PUBLIC dwStatus dwPCRangeImageCreator_getDefaultParams (dwPointCloudRangeImageCreatorParams *const params)
 Gets default range image creator parameters. More...
 
DW_API_PUBLIC dwStatus dwPCRangeImageCreator_getCUDAStream (cudaStream_t *const stream, dwConstPointCloudRangeImageCreatorHandle_t const obj)
 Gets CUDA stream of range image creator. More...
 
DW_API_PUBLIC dwStatus dwPCRangeImageCreator_setCUDAStream (cudaStream_t const stream, dwPointCloudRangeImageCreatorHandle_t const obj)
 Sets CUDA stream of range image creator. More...
 
DW_API_PUBLIC dwStatus dwPCRangeImageCreator_getImageProperties (dwImageProperties *const imageProperties, dwConstPointCloudRangeImageCreatorHandle_t const obj)
 Get properties of an image to bind as an output. More...
 
DW_API_PUBLIC dwStatus dwPCRangeImageCreator_bindInput (dwPointCloud const *const pointCloud, dwPointCloudRangeImageCreatorHandle_t const obj)
 Binds input point cloud to range image creator. More...
 
DW_API_PUBLIC dwStatus dwPCRangeImageCreator_bindOutput (dwImageHandle_t const image, dwPointCloudRangeImageCreatorHandle_t const obj)
 Binds output range image to range image creator. More...
 
DW_API_PUBLIC dwStatus dwPCRangeImageCreator_bindPointCloudOutput (dwPointCloud *const pointCloud, dwPointCloudRangeImageCreatorHandle_t const obj)
 Binds output point cloud to range image creator. More...
 
DW_API_PUBLIC dwStatus dwPCRangeImageCreator_process (dwPointCloudRangeImageCreatorHandle_t const obj)
 Organizes input point cloud and projects on the spherical coordinate to form a range image. More...
 
DW_API_PUBLIC DW_DEPRECATED ("dwPointCloudRangeImageCreator_initialize() is renamed / deprecated and will be removed in the next major release," " use dwPCRangeImageCreator_initialize() instead") dwStatus dwPointCloudRangeImageCreator_initialize(dwPointCloudRangeImageCreatorHandle_t *const obj
 Initializes range image creator. More...
 
DW_API_PUBLIC DW_DEPRECATED ("dwPointCloudRangeImageCreator_reset() is renamed / deprecated and will be removed in the next major release," " use dwPCRangeImageCreator_reset() instead") dwStatus dwPointCloudRangeImageCreator_reset(dwPointCloudRangeImageCreatorHandle_t const obj)
 Resets range image creator. More...
 
DW_API_PUBLIC DW_DEPRECATED ("dwPointCloudRangeImageCreator_release() is renamed / deprecated and will be removed in the next major release," " use dwPCRangeImageCreator_release() instead") dwStatus dwPointCloudRangeImageCreator_release(dwPointCloudRangeImageCreatorHandle_t const obj)
 Releases range image creator. More...
 
DW_API_PUBLIC DW_DEPRECATED ("dwPointCloudRangeImageCreator_getDefaultParams() is renamed / deprecated and will be removed in the next major release," " use dwPCRangeImageCreator_getDefaultParams() instead") dwStatus dwPointCloudRangeImageCreator_getDefaultParams(dwPointCloudRangeImageCreatorParams *const params)
 Gets default range image creator parameters. More...
 
DW_API_PUBLIC DW_DEPRECATED ("dwPointCloudRangeImageCreator_getCUDAStream() is renamed / deprecated and will be removed in the next major release," " use dwPCRangeImageCreator_getCUDAStream() instead") dwStatus dwPointCloudRangeImageCreator_getCUDAStream(cudaStream_t *const stream
 Gets CUDA stream of range image creator. More...
 
DW_API_PUBLIC DW_DEPRECATED ("dwPointCloudRangeImageCreator_setCUDAStream() is renamed / deprecated and will be removed in the next major release," " use dwPCRangeImageCreator_setCUDAStream() instead") dwStatus dwPointCloudRangeImageCreator_setCUDAStream(cudaStream_t const stream
 Sets CUDA stream of range image creator. More...
 
DW_API_PUBLIC DW_DEPRECATED ("dwPointCloudRangeImageCreator_getImageProperties() is renamed / deprecated and will be removed in the next major release," " use dwPCRangeImageCreator_getImageProperties() instead") dwStatus dwPointCloudRangeImageCreator_getImageProperties(dwImageProperties *const imageProperties
 Get properties of an image to bind as an output. More...
 
DW_API_PUBLIC DW_DEPRECATED ("dwPointCloudRangeImageCreator_bindInput() is renamed / deprecated and will be removed in the next major release," " use dwPCRangeImageCreator_bindInput() instead") dwStatus dwPointCloudRangeImageCreator_bindInput(dwPointCloud const *const pointCloud
 Binds input point cloud to range image creator. More...
 
DW_API_PUBLIC DW_DEPRECATED ("dwPointCloudRangeImageCreator_bindOutput() is renamed / deprecated and will be removed in the next major release," " use dwPCRangeImageCreator_bindOutput() instead") dwStatus dwPointCloudRangeImageCreator_bindOutput(dwImageHandle_t const image
 Binds output range image to range image creator. More...
 
DW_API_PUBLIC DW_DEPRECATED ("dwPointCloudRangeImageCreator_bindOutputPointCloud() is renamed / deprecated and will be removed in the next major release," " use dwPCRangeImageCreator_bindPointCloudOutput() instead") dwStatus dwPointCloudRangeImageCreator_bindOutputPointCloud(dwPointCloud *const pointCloud
 Binds output point cloud to range image creator. More...
 
DW_API_PUBLIC DW_DEPRECATED ("dwPointCloudRangeImageCreator_process() is renamed / deprecated and will be removed in the next major release," " use dwPCRangeImageCreator_process() instead") dwStatus dwPointCloudRangeImageCreator_process(dwPointCloudRangeImageCreatorHandle_t const obj)
 Organizes input point cloud and projects on the spherical coordinate to form a range image. More...
 

Variables

DW_API_PUBLIC dwPointCloudRangeImageCreatorParams const *const params
 
DW_API_PUBLIC dwPointCloudRangeImageCreatorParams const *const const dwContextHandle_t ctx
 
DW_API_PUBLIC const dwConstPointCloudRangeImageCreatorHandle_t obj
 

Typedef Documentation

◆ dwConstPointCloudRangeImageCreatorHandle_t

typedef const struct dwPointCloudRangeImageCreatorObject* dwConstPointCloudRangeImageCreatorHandle_t

Definition at line 42 of file PointCloudRangeImageCreator.h.

◆ dwPointCloudRangeImageCreatorHandle_t

typedef struct dwPointCloudRangeImageCreatorObject* dwPointCloudRangeImageCreatorHandle_t

Definition at line 41 of file PointCloudRangeImageCreator.h.

◆ obj

DW_API_PUBLIC dwPointCloud *const dwPointCloudExtractedPlane *const const dwPointCloudPlaneExtractorHandle_t obj

Definition at line 120 of file wfdext.h.

Enumeration Type Documentation

◆ dwPointCloudRangeImageType

enum dwPointCloudRangeImageType

Definition of the image type of Lidar cylindrical projection image.

Enumerator
DW_POINT_CLOUD_IMAGE_TYPE_DISTANCE 

R_FLOAT32 image where each pixel is the 3D distance in XYZ space.

DW_POINT_CLOUD_IMAGE_TYPE_INTENSITY 

R_FLOAT32 image where each pixel is the Lidar intensity.

DW_POINT_CLOUD_IMAGE_TYPE_2D_GRID 

RGBA_FLOAT32 image where each pixel is a tuple of 3D Lidar coordinate and intensity.

Definition at line 45 of file PointCloudRangeImageCreator.h.

Function Documentation

◆ DW_DEPRECATED() [1/11]

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

Binds input point cloud to range image creator.

Parameters
[in]pointCloudPointer to input buffer
[in]objHandle to range image creator
Returns
DW_SUCCESS
DW_INVALID_HANDLE If neither of given handle is valid
DW_INVALID_ARGUMENT If point cloud input is nullptr

◆ DW_DEPRECATED() [2/11]

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

Binds output range image to range image creator.

Parameters
[in]imageHandle to output range image
[in]objHandle to range image creator
Returns
DW_SUCCESS
DW_INVALID_HANDLE If neither of given handle is valid
DW_INVALID_ARGUMENT If image is nullptr, image properties are not correct or memory type of input/output is inconsistent.

◆ DW_DEPRECATED() [3/11]

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

Binds output point cloud to range image creator.

Parameters
[in]pointCloudPointer to output point cloud. If null provided, any currently bound point cloud will be unbound
[in]objHandle to range image creator
Returns
DW_SUCCESS
DW_INVALID_HANDLE If given handle is not valid
DW_INVALID_ARGUMENT If memory type or size of input/output is inconsistent.
Note
Output point cloud is optional. It may be used in couple with DW_POINT_CLOUD_IMAGE_TYPE_DISTANCE or DW_POINT_CLOUD_IMAGE_TYPE_INTENSITY image to organize points of input point cloud. Makes sense for unorganized input only.

◆ DW_DEPRECATED() [4/11]

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

Gets CUDA stream of range image creator.

Parameters
[out]streamPointer to CUDA stream handle
[in]objHandle to range image creator
Returns
DW_SUCCESS
DW_INVALID_ARGUMENT if given stream pointer is invalid
DW_INVALID_HANDLE If given handle is valid

◆ DW_DEPRECATED() [5/11]

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

Gets default range image creator parameters.

Parameters
[out]paramsPointer to range image creator parameters
Returns
DW_SUCCESS
DW_INVALID_ARGUMENT if given param pointer is invalid

◆ DW_DEPRECATED() [6/11]

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

Get properties of an image to bind as an output.

Parameters
[out]imagePropertiesPointer to image properties
[in]objHandle to range image creator
Returns
DW_SUCCESS
DW_INVALID_HANDLE If given handle is valid
DW_INVALID_ARGUMENT If imageProperties in null

◆ DW_DEPRECATED() [7/11]

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

Initializes range image creator.

Parameters
[out]objPointer to range image creator handle
[in]paramsPointer to range image creator parameters
[in]ctxHandle to the context
Returns
DW_SUCCESS
DW_INVALID_ARGUMENT If given parameter pointer is invalid
DW_INVALID_HANDLE If given handle is valid

◆ DW_DEPRECATED() [8/11]

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

Organizes input point cloud and projects on the spherical coordinate to form a range image.

If bound point cloud is already organized, the data is simply copied into output range image.

Parameters
[in]objHandle to range image creator
Returns
DW_SUCCESS
DW_INVALID_HANDLE If given handle is not valid
DW_CALL_NOT_ALLOWED If no input/output buffer is bound

◆ DW_DEPRECATED() [9/11]

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

Releases range image creator.

Parameters
[in]objHandle to range image creator
Returns
DW_SUCCESS
DW_INVALID_HANDLE If given handle is valid

◆ DW_DEPRECATED() [10/11]

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

Resets range image creator.

Parameters
[in]objHandle to range image creator
Returns
DW_SUCCESS
DW_INVALID_HANDLE If given handle is valid

◆ DW_DEPRECATED() [11/11]

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

Sets CUDA stream of range image creator.

Parameters
[in]streamHandle to CUDA stream
[in]objHandle to range image creator
Returns
DW_SUCCESS
DW_INVALID_HANDLE If given handle is valid

◆ dwPCRangeImageCreator_bindInput()

DW_API_PUBLIC dwStatus dwPCRangeImageCreator_bindInput ( dwPointCloud const *const  pointCloud,
dwPointCloudRangeImageCreatorHandle_t const  obj 
)

Binds input point cloud to range image creator.

Parameters
[in]pointCloudPointer to input buffer
[in]objHandle to range image creator
Returns
DW_SUCCESS
DW_INVALID_HANDLE If neither of given handle is valid
DW_INVALID_ARGUMENT If point cloud input is nullptr
API Group
  • Init: Yes
  • Runtime: Yes
  • De-Init: Yes

◆ dwPCRangeImageCreator_bindOutput()

DW_API_PUBLIC dwStatus dwPCRangeImageCreator_bindOutput ( dwImageHandle_t const  image,
dwPointCloudRangeImageCreatorHandle_t const  obj 
)

Binds output range image to range image creator.

Parameters
[in]imageHandle to output range image
[in]objHandle to range image creator
Returns
DW_SUCCESS
DW_INVALID_HANDLE If neither of given handle is valid
DW_INVALID_ARGUMENT If image is nullptr, image properties are not correct or memory type of input/output is inconsistent.
API Group
  • Init: Yes
  • Runtime: Yes
  • De-Init: Yes

◆ dwPCRangeImageCreator_bindPointCloudOutput()

DW_API_PUBLIC dwStatus dwPCRangeImageCreator_bindPointCloudOutput ( dwPointCloud *const  pointCloud,
dwPointCloudRangeImageCreatorHandle_t const  obj 
)

Binds output point cloud to range image creator.

Parameters
[in]pointCloudPointer to output point cloud. If null provided, any currently bound point cloud will be unbound
[in]objHandle to range image creator
Returns
DW_SUCCESS
DW_INVALID_HANDLE If given handle is not valid
DW_INVALID_ARGUMENT If memory type or size of input/output is inconsistent.
Note
Output point cloud is optional. It may be used in couple with DW_POINT_CLOUD_IMAGE_TYPE_DISTANCE or DW_POINT_CLOUD_IMAGE_TYPE_INTENSITY image to organize points of input point cloud. Makes sense for unorganized input only.
API Group
  • Init: Yes
  • Runtime: Yes
  • De-Init: Yes

◆ dwPCRangeImageCreator_getCUDAStream()

DW_API_PUBLIC dwStatus dwPCRangeImageCreator_getCUDAStream ( cudaStream_t *const  stream,
dwConstPointCloudRangeImageCreatorHandle_t const  obj 
)

Gets CUDA stream of range image creator.

Parameters
[out]streamPointer to CUDA stream handle
[in]objHandle to range image creator
Returns
DW_SUCCESS
DW_INVALID_ARGUMENT if given stream pointer is invalid
DW_INVALID_HANDLE If given handle is valid
API Group
  • Init: Yes
  • Runtime: Yes
  • De-Init: Yes

◆ dwPCRangeImageCreator_getDefaultParams()

DW_API_PUBLIC dwStatus dwPCRangeImageCreator_getDefaultParams ( dwPointCloudRangeImageCreatorParams *const  params)

Gets default range image creator parameters.

Parameters
[out]paramsPointer to range image creator parameters
Returns
DW_SUCCESS
DW_INVALID_ARGUMENT if given param pointer is invalid
API Group
  • Init: Yes
  • Runtime: Yes
  • De-Init: Yes

◆ dwPCRangeImageCreator_getImageProperties()

DW_API_PUBLIC dwStatus dwPCRangeImageCreator_getImageProperties ( dwImageProperties *const  imageProperties,
dwConstPointCloudRangeImageCreatorHandle_t const  obj 
)

Get properties of an image to bind as an output.

Parameters
[out]imagePropertiesPointer to image properties
[in]objHandle to range image creator
Returns
DW_SUCCESS
DW_INVALID_HANDLE If given handle is valid
DW_INVALID_ARGUMENT If imageProperties in null
API Group
  • Init: Yes
  • Runtime: Yes
  • De-Init: Yes

◆ dwPCRangeImageCreator_initialize()

DW_API_PUBLIC dwStatus dwPCRangeImageCreator_initialize ( dwPointCloudRangeImageCreatorHandle_t *const  obj,
dwPointCloudRangeImageCreatorParams const *const  params,
dwContextHandle_t const  ctx 
)

Initializes range image creator.

Parameters
[out]objPointer to range image creator handle
[in]paramsPointer to range image creator parameters
[in]ctxHandle to the context
Returns
DW_SUCCESS
DW_INVALID_ARGUMENT If given parameter pointer is invalid
DW_INVALID_HANDLE If given handle is valid
API Group
  • Init: Yes
  • Runtime: No
  • De-Init: No

◆ dwPCRangeImageCreator_process()

DW_API_PUBLIC dwStatus dwPCRangeImageCreator_process ( dwPointCloudRangeImageCreatorHandle_t const  obj)

Organizes input point cloud and projects on the spherical coordinate to form a range image.

If bound point cloud is already organized, the data is simply copied into output range image.

Parameters
[in]objHandle to range image creator
Returns
DW_SUCCESS
DW_INVALID_HANDLE If given handle is not valid
DW_CALL_NOT_ALLOWED If no input/output buffer is bound
API Group
  • Init: Yes
  • Runtime: Yes
  • De-Init: Yes

◆ dwPCRangeImageCreator_release()

DW_API_PUBLIC dwStatus dwPCRangeImageCreator_release ( dwPointCloudRangeImageCreatorHandle_t const  obj)

Releases range image creator.

Parameters
[in]objHandle to range image creator
Returns
DW_SUCCESS
DW_INVALID_HANDLE If given handle is valid
API Group
  • Init: Yes
  • Runtime: No
  • De-Init: Yes

◆ dwPCRangeImageCreator_reset()

DW_API_PUBLIC dwStatus dwPCRangeImageCreator_reset ( dwPointCloudRangeImageCreatorHandle_t const  obj)

Resets range image creator.

Parameters
[in]objHandle to range image creator
Returns
DW_SUCCESS
DW_INVALID_HANDLE If given handle is valid
API Group
  • Init: Yes
  • Runtime: Yes
  • De-Init: Yes

◆ dwPCRangeImageCreator_setCUDAStream()

DW_API_PUBLIC dwStatus dwPCRangeImageCreator_setCUDAStream ( cudaStream_t const  stream,
dwPointCloudRangeImageCreatorHandle_t const  obj 
)

Sets CUDA stream of range image creator.

Parameters
[in]streamHandle to CUDA stream
[in]objHandle to range image creator
Returns
DW_SUCCESS
DW_INVALID_HANDLE If given handle is valid
API Group
  • Init: Yes
  • Runtime: Yes
  • De-Init: Yes

Variable Documentation

◆ ctx

DW_API_PUBLIC dwPointCloudRangeImageCreatorParams const* const const dwContextHandle_t ctx

Definition at line 293 of file PointCloudRangeImageCreator.h.

◆ obj

DW_API_PUBLIC const dwPointCloudRangeImageCreatorHandle_t obj

Definition at line 352 of file PointCloudRangeImageCreator.h.

◆ params

DW_API_PUBLIC dwPointCloudRangeImageCreatorParams const* const params

Definition at line 292 of file PointCloudRangeImageCreator.h.