Detailed Description

Defines rig configurations for the vehicle.

Defines vehicle parameters.

Data Structures
struct	dwVehicleBodyProperties
	Physical properties of a vehicle body. More...

struct	dwVehicleAxleProperties
	Properties of an axle and its wheels. More...

struct	dwVehicleTorqueLUT
	Throttle and brake state (input) to longitudinal force (output) lookup tables. More...

struct	dwVehicleActuationProperties
	Vehicle actuation properties. More...

struct	dwVehicleWheelEncoderProperties
	Wheel encoder parameters. More...

struct	dwVehicleDynamicsProperties
	Dynamics properties. More...

struct	dwVehicleSuspensionProperties
	Suspension properties. More...

struct	dwVehicleArticulationProperties
	Properties of an articulation linking two vehicle units. More...

struct	dwVehicleCabin
	Vehicle cabin description. More...

struct	dwVehicleTrailer
	Vehicle trailer description. More...

struct	dwGenericVehicle
	Vehicle description. More...

struct	dwVehicle
	DEPRECATED: Properties of a passenger car vehicle. More...

Modules
	DriveWorks Coordinate Systems

	Rig Configuration
	Defines vehicle rig configuration.

Macros
#define	DW_VEHICLE_STEER_MAP_POLY_DEGREE 5U

#define	DW_VEHICLE_STEER_MAP_POLY_DEGREE_PLUS_ONE (DW_VEHICLE_STEER_MAP_POLY_DEGREE + 1U)

#define	DW_VEHICLE_MAX_NUM_TRAILERS 1U

#define	DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE 15U

#define	DW_VEHICLE_NUM_CONTOUR_POINTS 200U

Typedefs
typedef struct dwRigObject *	dwRigHandle_t
	Handle representing the Rig interface. More...

typedef struct dwRigObject const *	dwConstRigHandle_t
	Handle representing the const Rig interface. More...

typedef enum dwVehicleTrailerType	dwVehicleTrailerType
	Supported trailer types. More...

typedef enum dwVehicleWheels	dwVehicleWheels
	Define index for each of the wheels on a 4 wheeled vehicle. More...

typedef struct dwVehicleBodyProperties	dwVehicleBodyProperties
	Physical properties of a vehicle body. More...

typedef struct dwVehicleAxleProperties	dwVehicleAxleProperties
	Properties of an axle and its wheels. More...

typedef struct dwVehicleTorqueLUT	dwVehicleTorqueLUT
	Throttle and brake state (input) to longitudinal force (output) lookup tables. More...

typedef struct dwVehicleActuationProperties	dwVehicleActuationProperties
	Vehicle actuation properties. More...

typedef struct dwVehicleWheelEncoderProperties	dwVehicleWheelEncoderProperties
	Wheel encoder parameters. More...

typedef struct dwVehicleDynamicsProperties	dwVehicleDynamicsProperties
	Dynamics properties. More...

typedef struct dwVehicleSuspensionProperties	dwVehicleSuspensionProperties
	Suspension properties. More...

typedef struct dwVehicleArticulationProperties	dwVehicleArticulationProperties
	Properties of an articulation linking two vehicle units. More...

typedef struct dwVehicleCabin	dwVehicleCabin
	Vehicle cabin description. More...

typedef struct dwVehicleTrailer	dwVehicleTrailer
	Vehicle trailer description. More...

typedef struct dwGenericVehicle	dwGenericVehicle
	Vehicle description. More...

typedef struct dwVehicle	dwVehicle
	DEPRECATED: Properties of a passenger car vehicle. More...

Enumerations
enum	dwVehicleTrailerType { DW_VEHICLE_TRAILER_TYPE_FULL = 0, DW_VEHICLE_TRAILER_TYPE_SEMI = 1 }
	Supported trailer types. More...

enum	dwVehicleWheels { DW_VEHICLE_WHEEL_FRONT_LEFT = 0, DW_VEHICLE_WHEEL_FRONT_RIGHT = 1, DW_VEHICLE_WHEEL_REAR_LEFT = 2, DW_VEHICLE_WHEEL_REAR_RIGHT = 3, DW_VEHICLE_NUM_WHEELS = 4 }
	Define index for each of the wheels on a 4 wheeled vehicle. More...

Functions
DW_API_PUBLIC dwStatus	dwRig_initializeFromFile (dwRigHandle_t const obj, dwContextHandle_t const ctx, char8_t const const configurationFile)
	Initializes the Rig Configuration module from a file. More...

DW_API_PUBLIC dwStatus	dwRig_initializeFromString (dwRigHandle_t const obj, dwContextHandle_t const ctx, char8_t const const configurationString, char8_t const *const relativeBasePath)
	Initializes the Rig Configuration module from a string. More...

DW_API_PUBLIC dwStatus	dwRig_reset (dwRigHandle_t const obj)
	Resets the Rig Configuration module. More...

DW_API_PUBLIC dwStatus	dwRig_release (dwRigHandle_t const obj)
	Releases the Rig Configuration module. More...

DW_API_PUBLIC dwStatus	dwRig_getVehicle (dwVehicle const **const vehicle, dwConstRigHandle_t const obj)
	DEPRECATED: Gets the properties of a passenger car vehicle. More...

DW_API_PUBLIC dwStatus	dwRig_getGenericVehicle (dwGenericVehicle *const vehicle, dwConstRigHandle_t const obj)
	Gets the properties of a generic vehicle (car or truck). More...

DW_API_PUBLIC dwStatus	dwRig_setVehicle (dwVehicle const *const vehicle, dwRigHandle_t const obj)
	DEPRECATED: Sets the properties of a passenger car vehicle. More...

DW_API_PUBLIC dwStatus	dwRig_setGenericVehicle (dwGenericVehicle const *const vehicle, dwRigHandle_t const obj)
	Sets the properties of a generic vehicle (car or truck). More...

DW_API_PUBLIC dwStatus	dwRig_getVehicleIOConfigCount (uint32_t *const vioConfigCount, dwConstRigHandle_t const obj)
	Gets the number of vehicle IO sensors. More...

DW_API_PUBLIC dwStatus	dwRig_getSensorCount (uint32_t *const sensorCount, dwConstRigHandle_t const obj)
	Gets the number of all available sensors. More...

DW_API_PUBLIC dwStatus	dwRig_getSensorCountOfType (uint32_t *const sensorCount, dwSensorType const sensorType, dwConstRigHandle_t const obj)
	Find number of sensors of a given type. More...

DW_API_PUBLIC dwStatus	dwRig_getSensorProtocol (char8_t const **const sensorProtocol, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets the protocol string of a sensor. More...

DW_API_PUBLIC dwStatus	dwRig_getSensorParameter (char8_t const **const sensorParameter, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets the parameter string for a sensor. More...

DW_API_PUBLIC dwStatus	dwRig_setSensorParameter (char8_t const *const sensorParameter, uint32_t const sensorId, dwRigHandle_t const obj)
	Sets the parameter string for a sensor. More...

DW_API_PUBLIC dwStatus	dwRig_getSensorParameterUpdatedPath (char8_t const **const sensorParameter, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets the parameter string for a sensor with any path described by file=,video=,timestamp= property modified to be in respect to the current rig file's directory (if initializing a rig from file), or in respect to the relativeBasePath (when initializing a rig from string). More...

DW_API_PUBLIC dwStatus	dwRig_getSensorToRigTransformation (dwTransformation3f *const transformation, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets the sensor to rig transformation for a sensor. More...

DW_API_PUBLIC dwStatus	dwRig_getSensorFLUToRigTransformation (dwTransformation3f *const transformation, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets the sensor FLU to rig transformation for a sensor. More...

DW_API_PUBLIC dwStatus	dwRig_getNominalSensorToRigTransformation (dwTransformation3f *const transformation, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets the nominal sensor to rig transformation for a sensor. More...

DW_API_PUBLIC dwStatus	dwRig_getSensorToSensorTransformation (dwTransformation3f *const transformation, uint32_t const sensorIdFrom, uint32_t const sensorIdTo, dwConstRigHandle_t const obj)
	Gets the sensor to sensor transformation for a pair of sensors. More...

DW_API_PUBLIC dwStatus	dwRig_getNominalSensorToSensorTransformation (dwTransformation3f *const transformation, uint32_t const sensorIdFrom, uint32_t const sensorIdTo, dwConstRigHandle_t const obj)
	Gets the nominal sensor to sensor transformation for a pair of sensors. More...

DW_API_PUBLIC dwStatus	dwRig_setSensorToRigTransformation (dwTransformation3f const *const transformation, uint32_t const sensorId, dwRigHandle_t const obj)
	Sets the sensor to rig transformation for a sensor. More...

DW_API_PUBLIC dwStatus	dwRig_getSensorName (char8_t const **const sensorName, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets the name of a sensor as given in the configuration. More...

DW_API_PUBLIC dwStatus	dwRig_getSensorDataPath (char8_t const **const dataPath, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets path to sensor recording. More...

DW_API_PUBLIC dwStatus	dwRig_getCameraTimestampPath (char8_t const **const timestampPath, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets path to camera timestamp file. More...

DW_API_PUBLIC dwStatus	dwRig_getSensorPropertyByName (char8_t const *const propertyValue, char8_t const const propertyName, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Returns property stored inside of a sensor. More...

DW_API_PUBLIC dwStatus	dwRig_addOrSetSensorPropertyByName (char8_t const const propertyValue, char8_t const const propertyName, uint32_t const sensorId, dwRigHandle_t const obj)
	Overwrite content of an existing sensor property. More...

DW_API_PUBLIC dwStatus	dwRig_getPropertyByName (char8_t const *const propertyValue, char8_t const const propertyName, dwConstRigHandle_t const obj)
	Returns property stored inside of rig. More...

DW_API_PUBLIC dwStatus	dwRig_addOrSetPropertyByName (char8_t const const propertyValue, char8_t const const propertyName, dwRigHandle_t const obj)
	Overwrite content of an existing rig property. More...

DW_API_PUBLIC dwStatus	dwRig_findSensorByName (uint32_t const sensorId, char8_t const const sensorName, dwConstRigHandle_t const obj)
	Finds the sensor with the given name and returns its index. More...

DW_API_PUBLIC dwStatus	dwRig_findSensorIdFromVehicleIOId (uint32_t *const sensorId, uint32_t const vehicleIOId, dwConstRigHandle_t const obj)
	Finds a sensor with the given vehicleIO ID and returns the index. More...

DW_API_PUBLIC dwStatus	dwRig_findSensorByTypeIndex (uint32_t *const sensorId, dwSensorType const sensorType, uint32_t const sensorTypeIndex, dwConstRigHandle_t const obj)
	Finds the absolute sensor index of the Nth sensor of a given type. More...

DW_API_PUBLIC dwStatus	dwRig_getSensorType (dwSensorType *const sensorType, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Returns the type of sensor based upon the sensorID sent into the method. More...

DW_API_PUBLIC dwStatus	dwRig_getCameraModel (dwCameraModel *const cameraModel, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets the model type of the camera intrinsics. More...

DW_API_PUBLIC dwStatus	dwRig_getPinholeCameraConfig (dwPinholeCameraConfig *const config, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets the parameters of the Pinhole camera model. More...

DW_API_PUBLIC dwStatus	dwRig_getFThetaCameraConfig (dwFThetaCameraConfig *const config, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets the parameters of the FTheta camera model. More...

DW_API_PUBLIC dwStatus	dwRig_getFThetaCameraConfigNew (dwFThetaCameraConfig *const config, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets the parameters of the FTheta camera model. More...

DW_API_PUBLIC dwStatus	dwRig_setPinholeCameraConfig (dwPinholeCameraConfig const *const config, uint32_t const sensorId, dwRigHandle_t const obj)
	Sets the parameters of the pinhole camera model. More...

DW_API_PUBLIC dwStatus	dwRig_setFThetaCameraConfig (dwFThetaCameraConfig const *const config, uint32_t const sensorId, dwRigHandle_t const obj)
	Sets the parameters of the FTheta camera model. More...

DW_API_PUBLIC dwStatus	dwRig_serializeToFile (char8_t const *const configurationFile, dwConstRigHandle_t const obj)
	This method serializes the rig-configuration object to a human-readable rig-configuration file. More...

Macro Definition Documentation

◆ DW_VEHICLE_MAX_NUM_TRAILERS

#define DW_VEHICLE_MAX_NUM_TRAILERS 1U

Definition at line 44 of file Vehicle.h.

◆ DW_VEHICLE_NUM_CONTOUR_POINTS

#define DW_VEHICLE_NUM_CONTOUR_POINTS 200U

Definition at line 46 of file Vehicle.h.

◆ DW_VEHICLE_STEER_MAP_POLY_DEGREE

#define DW_VEHICLE_STEER_MAP_POLY_DEGREE 5U

Definition at line 41 of file Vehicle.h.

◆ DW_VEHICLE_STEER_MAP_POLY_DEGREE_PLUS_ONE

#define DW_VEHICLE_STEER_MAP_POLY_DEGREE_PLUS_ONE (DW_VEHICLE_STEER_MAP_POLY_DEGREE + 1U)

Definition at line 43 of file Vehicle.h.

◆ DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE

#define DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE 15U

Definition at line 45 of file Vehicle.h.

Typedef Documentation

◆ dwConstRigHandle_t

typedef struct dwRigObject const* dwConstRigHandle_t

Handle representing the const Rig interface.

Definition at line 58 of file Rig.h.

◆ dwGenericVehicle

typedef struct dwGenericVehicle dwGenericVehicle

Vehicle description.

◆ dwRigHandle_t

typedef struct dwRigObject* dwRigHandle_t

Handle representing the Rig interface.

Definition at line 56 of file Rig.h.

◆ dwVehicle

typedef struct dwVehicle dwVehicle

DEPRECATED: Properties of a passenger car vehicle.

Deprecated:: Use dwGenericVehicle, this dwVehicle struct will be deprecated in an upcoming release.

◆ dwVehicleActuationProperties

typedef struct dwVehicleActuationProperties dwVehicleActuationProperties

Vehicle actuation properties.

◆ dwVehicleArticulationProperties

typedef struct dwVehicleArticulationProperties dwVehicleArticulationProperties

Properties of an articulation linking two vehicle units.

◆ dwVehicleAxleProperties

typedef struct dwVehicleAxleProperties dwVehicleAxleProperties

Properties of an axle and its wheels.

◆ dwVehicleBodyProperties

typedef struct dwVehicleBodyProperties dwVehicleBodyProperties

Physical properties of a vehicle body.

Coordinate system depends on body type,

See also: dwCoordinateSystem

◆ dwVehicleCabin

typedef struct dwVehicleCabin dwVehicleCabin

Vehicle cabin description.

◆ dwVehicleDynamicsProperties

typedef struct dwVehicleDynamicsProperties dwVehicleDynamicsProperties

Dynamics properties.

◆ dwVehicleSuspensionProperties

typedef struct dwVehicleSuspensionProperties dwVehicleSuspensionProperties

Suspension properties.

◆ dwVehicleTorqueLUT

typedef struct dwVehicleTorqueLUT dwVehicleTorqueLUT

Throttle and brake state (input) to longitudinal force (output) lookup tables.

◆ dwVehicleTrailer

typedef struct dwVehicleTrailer dwVehicleTrailer

Vehicle trailer description.

◆ dwVehicleTrailerType

typedef enum dwVehicleTrailerType dwVehicleTrailerType

Supported trailer types.

◆ dwVehicleWheelEncoderProperties

typedef struct dwVehicleWheelEncoderProperties dwVehicleWheelEncoderProperties

Wheel encoder parameters.

◆ dwVehicleWheels

typedef enum dwVehicleWheels dwVehicleWheels

Define index for each of the wheels on a 4 wheeled vehicle.

These indices are to be used to point into dwVehicleIOState or dwVehicle.

Enumeration Type Documentation

◆ dwVehicleTrailerType

enum dwVehicleTrailerType

Supported trailer types.

Enumerator
DW_VEHICLE_TRAILER_TYPE_FULL
DW_VEHICLE_TRAILER_TYPE_SEMI	Trailer that has both front and rear axles.

Definition at line 51 of file Vehicle.h.

◆ dwVehicleWheels

enum dwVehicleWheels

Define index for each of the wheels on a 4 wheeled vehicle.

These indices are to be used to point into dwVehicleIOState or dwVehicle.

Enumerator
DW_VEHICLE_WHEEL_FRONT_LEFT
DW_VEHICLE_WHEEL_FRONT_RIGHT
DW_VEHICLE_WHEEL_REAR_LEFT
DW_VEHICLE_WHEEL_REAR_RIGHT
DW_VEHICLE_NUM_WHEELS	Number of wheels describing the vehicle.

Definition at line 60 of file Vehicle.h.

Function Documentation

◆ dwRig_addOrSetPropertyByName()

DW_API_PUBLIC dwStatus dwRig_addOrSetPropertyByName	(	char8_t const *const	propertyValue,
		char8_t const *const	propertyName,
		dwRigHandle_t const	obj
	)

Overwrite content of an existing rig property.

If property does not exists, it will be added. Properties are stored as name=value pairs.

Parameters

[in]	propertyValue	Value of the property to be changed to. Maximal length limited to 256 characters.
[in]	propertyName	Name of the property to change
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when given pointer is null
DW_BUFFER_FULL	when there are no more space for new properties, max 32
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_SUCCESS	when operation succeeded

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwRig_addOrSetSensorPropertyByName()

DW_API_PUBLIC dwStatus dwRig_addOrSetSensorPropertyByName	(	char8_t const *const	propertyValue,
		char8_t const *const	propertyName,
		uint32_t const	sensorId,
		dwRigHandle_t const	obj
	)

Overwrite content of an existing sensor property.

If property does not exists, it will be added. Properties are stored as name=value pairs.

Parameters

[in]	propertyValue	Value of the property to be changed to. Maximal length limited to 512 characters.
[in]	propertyName	Name of the property to change
[in]	sensorId	Specifies the index of the queried sensor.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when given pointer is null or sensorId doesn't exist
DW_BUFFER_FULL	when there are no more space for new properties, max 32
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_SUCCESS	when operation succeeded

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwRig_findSensorByName()

DW_API_PUBLIC dwStatus dwRig_findSensorByName	(	uint32_t *const	sensorId,
		char8_t const *const	sensorName,
		dwConstRigHandle_t const	obj
	)

Finds the sensor with the given name and returns its index.

Parameters

[out]	sensorId	The index of the matching sensor (unchanged if the function fails).
[in]	sensorName	The sensor name to search for. If the character '*' is found, only the characters before are compared for a match.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when given pointer is null
DW_NOT_AVAILABLE	when no sensor matches the name
DW_INVALID_HANDLE	when the rig configuration module handle is invalid, i.e NULL or wrong type
DW_SUCCESS	when operation succeeded

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwRig_findSensorByTypeIndex()

DW_API_PUBLIC dwStatus dwRig_findSensorByTypeIndex	(	uint32_t *const	sensorId,
		dwSensorType const	sensorType,
		uint32_t const	sensorTypeIndex,
		dwConstRigHandle_t const	obj
	)

Finds the absolute sensor index of the Nth sensor of a given type.

Parameters

[out]	sensorId	The index of the matching sensor (unchanged if the function fails).
[in]	sensorType	The type of the sensor to search for.
[in]	sensorTypeIndex	The idx of the sensor within that type.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when given pointer is null
DW_NOT_AVAILABLE	when no sensor matches the type
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_SUCCESS	when operation succeeded

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwRig_findSensorIdFromVehicleIOId()

DW_API_PUBLIC dwStatus dwRig_findSensorIdFromVehicleIOId	(	uint32_t *const	sensorId,
		uint32_t const	vehicleIOId,
		dwConstRigHandle_t const	obj
	)

Finds a sensor with the given vehicleIO ID and returns the index.

Parameters

[out]	sensorId	The Specifies the index of the matching sensor. Undefined if the function fails.
[in]	vehicleIOId	The vehicleIO ID to search for.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when given pointer is null
DW_NOT_AVAILABLE	when no sensor matches the vehicle IO ID
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_SUCCESS	when operation succeeded

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwRig_getCameraModel()

DW_API_PUBLIC dwStatus dwRig_getCameraModel	(	dwCameraModel *const	cameraModel,
		uint32_t const	sensorId,
		dwConstRigHandle_t const	obj
	)

Gets the model type of the camera intrinsics.

The supported models are OCam, Pinhole, and FTheta.

Parameters

[out]	cameraModel	A pointer to the model type for the camera intrinsics.
[in]	sensorId	Specifies the index of the queried sensor.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the pointer to the model type is NULL
DW_INVALID_HANDLE	when the rig configuration handle is invalid, i.e null or wrong type
DW_OUT_OF_BOUNDS	when the index of the queried sensor is more than MAX_SENSOR_COUNT
DW_NOT_AVAILABLE	when the sensor has no camera model
DW_SUCCESS	when operation succeeded

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwRig_getCameraTimestampPath()

DW_API_PUBLIC dwStatus dwRig_getCameraTimestampPath	(	char8_t const **const	timestampPath,
		uint32_t const	sensorId,
		dwConstRigHandle_t const	obj
	)

Gets path to camera timestamp file.

The call is only relevant for virtual h264/h265 cameras. Otherwise returned value is always nullptr.

Parameters

[out]	timestampPath	A pointer to the path containing timestamp data.
[in]	sensorId	Specifies the index of the queried sensor.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when given pointer is null
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_SUCCESS	when operation succeeded

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwRig_getFThetaCameraConfig()

DW_API_PUBLIC dwStatus dwRig_getFThetaCameraConfig	(	dwFThetaCameraConfig *const	config,
		uint32_t const	sensorId,
		dwConstRigHandle_t const	obj
	)

Gets the parameters of the FTheta camera model.

Note: This method clears the data passed in config in order to check if data was set.

Parameters

[out]	config	A pointer to the configuration of the camera intrinsics.
[in]	sensorId	Specifies the index of the queried sensor.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the config pointer is NULL
DW_INVALID_HANDLE	when the rig configuration handle is invalid, i.e null or wrong type
DW_OUT_OF_BOUNDS	when the index of the queried sensor is more than MAX_SENSOR_COUNT
DW_NOT_AVAILABLE	when the sensor has no camera model
DW_SUCCESS	when operation succeeded

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwRig_getFThetaCameraConfigNew()

DW_API_PUBLIC dwStatus dwRig_getFThetaCameraConfigNew	(	dwFThetaCameraConfig *const	config,
		uint32_t const	sensorId,
		dwConstRigHandle_t const	obj
	)

Gets the parameters of the FTheta camera model.

Note: This method clears the data passed in config in order to check if data was set.

Parameters

[out]	config	A pointer to the configuration of the camera intrinsics.
[in]	sensorId	Specifies the index of the queried sensor.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the config pointer is NULL
DW_INVALID_HANDLE	when the rig configuration handle is invalid, i.e null or wrong type
DW_OUT_OF_BOUNDS	when the index of the queried sensor is more than MAX_SENSOR_COUNT
DW_NOT_AVAILABLE	when the sensor has no camera model
DW_SUCCESS	when operation succeeded

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwRig_getGenericVehicle()

DW_API_PUBLIC dwStatus dwRig_getGenericVehicle	(	dwGenericVehicle *const	vehicle,
		dwConstRigHandle_t const	obj
	)

Gets the properties of a generic vehicle (car or truck).

Parameters

[out]	vehicle	A pointer to the struct to be filled with vehicle properties.
[in]	obj	Specifies the Rig Configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the rig configuration handle is NULL
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_NOT_AVAILABLE	when no generic vehicle in configuration is available
DW_SUCCESS	when operation succeeded

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwRig_getNominalSensorToRigTransformation()

DW_API_PUBLIC dwStatus dwRig_getNominalSensorToRigTransformation	(	dwTransformation3f *const	transformation,
		uint32_t const	sensorId,
		dwConstRigHandle_t const	obj
	)

Gets the nominal sensor to rig transformation for a sensor.

This transform differs from transform T provided by getSensorToRigTransformation() in that it represents a static reference transformation from factory calibration and/or mechanical drawings, whereas T can change over time. Also, if the sensor's type doesn't support extrinsics, the identity transformation will be returned.

Parameters

[out]	transformation	A pointer to the nominal transformation from sensor to rig coordinate system.
[in]	sensorId	Specifies the index of the queried sensor.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the transformation pointer is NULL
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_SUCCESS	when operation succeeded

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwRig_getNominalSensorToSensorTransformation()

DW_API_PUBLIC dwStatus dwRig_getNominalSensorToSensorTransformation	(	dwTransformation3f *const	transformation,
		uint32_t const	sensorIdFrom,
		uint32_t const	sensorIdTo,
		dwConstRigHandle_t const	obj
	)

Gets the nominal sensor to sensor transformation for a pair of sensors.

This transform differs from transform T provided by getSensorToSensorTransformation() in that it represents a static reference transformation from factory calibration and/or mechanical drawings, whereas T can change over time. Identity transformations are used for sensors that don't support a native extrinsic frame.

Parameters

[out]	transformation	A pointer to the nominal transformation from sensor to sensor coordinate system.
[in]	sensorIdFrom	Specifies the index of the source sensor.
[in]	sensorIdTo	Specifies the index of the destination sensor.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the transformation pointer is NULL
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_SUCCESS	when operation succeeded

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwRig_getPinholeCameraConfig()

DW_API_PUBLIC dwStatus dwRig_getPinholeCameraConfig	(	dwPinholeCameraConfig *const	config,
		uint32_t const	sensorId,
		dwConstRigHandle_t const	obj
	)

Gets the parameters of the Pinhole camera model.

Parameters

[out]	config	A pointer to the configuration of the camera intrinsics.
[in]	sensorId	Specifies the index of the queried sensor.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the config pointer is NULL
DW_INVALID_HANDLE	when the rig configuration handle is invalid, i.e null or wrong type
DW_OUT_OF_BOUNDS	when the index of the queried sensor is more than MAX_SENSOR_COUNT
DW_NOT_AVAILABLE	when the sensor has no camera model
DW_SUCCESS	when operation succeeded

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwRig_getPropertyByName()

DW_API_PUBLIC dwStatus dwRig_getPropertyByName	(	char8_t const **const	propertyValue,
		char8_t const *const	propertyName,
		dwConstRigHandle_t const	obj
	)

Returns property stored inside of rig.

Properties are stored in name=value pairs and implement properties which are specific for the rig in a generic way. For example a particular sensor layout or configuration

Parameters

[out]	propertyValue	A pointer to return the value of a certain property
[in]	propertyName	Name of the property to retrieve value from
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when given pointer is null
DW_NOT_AVAILABLE	when a certain property is not available in the rig configration
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_SUCCESS	when operation succeeded

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwRig_getSensorCount()

DW_API_PUBLIC dwStatus dwRig_getSensorCount	(	uint32_t *const	sensorCount,
		dwConstRigHandle_t const	obj
	)

Gets the number of all available sensors.

Parameters

[out]	sensorCount	A pointer to the number of sensors in the rig configuration.
[in]	obj	Specifies the Rig Configuration module handle.

Return values

DW_INVALID_ARGUMENT	when given pointer is null
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_SUCCESS	when operation succeeded

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwRig_getSensorCountOfType()

DW_API_PUBLIC dwStatus dwRig_getSensorCountOfType	(	uint32_t *const	sensorCount,
		dwSensorType const	sensorType,
		dwConstRigHandle_t const	obj
	)

Find number of sensors of a given type.

Parameters

[out]	sensorCount	Return number of sensors available of the given type
[in]	sensorType	Type of the sensor to query
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	`given pointer is null
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_SUCCESS	when operation succeeded

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwRig_getSensorDataPath()

DW_API_PUBLIC dwStatus dwRig_getSensorDataPath	(	char8_t const **const	dataPath,
		uint32_t const	sensorId,
		dwConstRigHandle_t const	obj
	)

Gets path to sensor recording.

The call is only valid for virtual sensors.

Parameters

[out]	dataPath	A pointer to the path with sensor data. The pointer is valid until module reset or release is called.
[in]	sensorId	Specifies the index of the queried sensor.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when given pointer is null
DW_NOT_AVAILABLE	when data path for the given sensor is not available
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_SUCCESS	when operation succeeded

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwRig_getSensorFLUToRigTransformation()

DW_API_PUBLIC dwStatus dwRig_getSensorFLUToRigTransformation	(	dwTransformation3f *const	transformation,
		uint32_t const	sensorId,
		dwConstRigHandle_t const	obj
	)

Gets the sensor FLU to rig transformation for a sensor.

This transformation relates the sensor FLU and the rig coordinate system to each other. For example, the origin in sensor coordinate system is the position of the sensor in rig coordinates.

Parameters

[out]	transformation	A pointer to the transformation from sensor to rig coordinate system.
[in]	sensorId	Specifies the index of the queried sensor.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the transformation pointer is NULL
DW_INVALID_HANDLE	when the rig configuration handle is invalid, i.e null or wrong type
DW_OUT_OF_BOUNDS	when the index of the queried sensor is more than MAX_SENSOR_COUNT
DW_SUCCESS	when operation succeeded

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwRig_getSensorName()

DW_API_PUBLIC dwStatus dwRig_getSensorName	(	char8_t const **const	sensorName,
		uint32_t const	sensorId,
		dwConstRigHandle_t const	obj
	)

Gets the name of a sensor as given in the configuration.

For example, "Front Camera".

Parameters

[out]	sensorName	A pointer to the name of the sensor. The pointer is valid until module reset or release is called.
[in]	sensorId	Specifies the index of the queried sensor.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the sensor pointer is NULL
DW_INVALID_HANDLE	when the rig configuration handle is invalid, i.e null or wrong type
DW_OUT_OF_BOUNDS	when the index of the queried sensor is more than MAX_SENSOR_COUNT
DW_SUCCESS	when operation succeeded

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwRig_getSensorParameter()

DW_API_PUBLIC dwStatus dwRig_getSensorParameter	(	char8_t const **const	sensorParameter,
		uint32_t const	sensorId,
		dwConstRigHandle_t const	obj
	)

Gets the parameter string for a sensor.

This string can be used in sensor creation.

Parameters

[out]	sensorParameter	A pointer to the pointer to the parameters of the sensor, for example camera driver and csi port. The returned pointer is valid until module reset or release is called.
[in]	sensorId	Specifies the index of the queried sensor.
[in]	obj	Specifies the Rig Configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the pointer to the pointer of sensor parameters is NULL
DW_INVALID_HANDLE	when the rig configuration handle is invalid, i.e null or wrong type
DW_OUT_OF_BOUNDS	when the index of the queried sensor is more than MAX_SENSOR_COUNT
DW_SUCCESS	when operation succeeded

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwRig_getSensorParameterUpdatedPath()

DW_API_PUBLIC dwStatus dwRig_getSensorParameterUpdatedPath	(	char8_t const **const	sensorParameter,
		uint32_t const	sensorId,
		dwConstRigHandle_t const	obj
	)

Gets the parameter string for a sensor with any path described by file=,video=,timestamp= property modified to be in respect to the current rig file's directory (if initializing a rig from file), or in respect to the relativeBasePath (when initializing a rig from string).

For example, given a rig.json file stored at this/is/rig.json with a virtual sensor pointing to file=video.lraw, the call to this function will return sensor properties modified as file=this/is/video.lraw.

Parameters

[out]	sensorParameter	Sensor parameters with modified path inside of file=,video=,timestamp= returned here.
[in]	sensorId	Specifies the index of the queried sensor.
[in]	obj	Specifies the Rig Configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the pointer to the pointer of sensor parameters is NULL
DW_INVALID_HANDLE	when the rig configuration handle is invalid, i.e null or wrong type
DW_OUT_OF_BOUNDS	when the index of the queried sensor is more than MAX_SENSOR_COUNT
DW_SUCCESS	when operation succeeded

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwRig_getSensorPropertyByName()

DW_API_PUBLIC dwStatus dwRig_getSensorPropertyByName	(	char8_t const **const	propertyValue,
		char8_t const *const	propertyName,
		uint32_t const	sensorId,
		dwConstRigHandle_t const	obj
	)

Returns property stored inside of a sensor.

Properties are stored in name=value pairs and implement properties which are specific for a certain sensor in a generic way. For example a camera might store calibration data there, an IMU might store bias values there, etc.

Parameters

[out]	propertyValue	A pointer to return the value of a certain property
[in]	propertyName	Name of the property to retrieve value from
[in]	sensorId	Specifies the index of the queried sensor.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when given pointer is null or sensorId doesn't exist
DW_NOT_AVAILABLE	when a certain property is not available in the rig configuration
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_SUCCESS	when operation succeeded

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwRig_getSensorProtocol()

DW_API_PUBLIC dwStatus dwRig_getSensorProtocol	(	char8_t const **const	sensorProtocol,
		uint32_t const	sensorId,
		dwConstRigHandle_t const	obj
	)

Gets the protocol string of a sensor.

This string can be used in sensor creation or to identify the type of a sensor.

Parameters

[out]	sensorProtocol	A pointer to the pointer to the protocol of the sensor, for example, camera.gmsl. The returned pointer is valid until module reset or release is called.
[in]	sensorId	Specifies the index of the queried sensor.
[in]	obj	Specifies the Rig Configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the pointer to the pointer of sensor protocol is NULL
DW_INVALID_HANDLE	when the rig configuration handle is invalid, i.e null or wrong type
DW_OUT_OF_BOUNDS	when the index of the queried sensor is more than MAX_SENSOR_COUNT
DW_SUCCESS	when operation succeeded

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwRig_getSensorToRigTransformation()

DW_API_PUBLIC dwStatus dwRig_getSensorToRigTransformation	(	dwTransformation3f *const	transformation,
		uint32_t const	sensorId,
		dwConstRigHandle_t const	obj
	)

Gets the sensor to rig transformation for a sensor.

This transformation relates the sensor and the rig coordinate system to each other. For example, the origin in sensor coordinate system is the position of the sensor in rig coordinates. Also, if the sensor's type doesn't support extrinsics, the identity transformation will be returned.

Parameters

[out]	transformation	A pointer to the transformation from sensor to rig coordinate system.
[in]	sensorId	Specifies the index of the queried sensor.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the transformation pointer is NULL
DW_INVALID_HANDLE	when the rig configuration handle is invalid, i.e null or wrong type
DW_OUT_OF_BOUNDS	when the index of the queried sensor is more than MAX_SENSOR_COUNT
DW_SUCCESS	when operation succeeded

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwRig_getSensorToSensorTransformation()

DW_API_PUBLIC dwStatus dwRig_getSensorToSensorTransformation	(	dwTransformation3f *const	transformation,
		uint32_t const	sensorIdFrom,
		uint32_t const	sensorIdTo,
		dwConstRigHandle_t const	obj
	)

Gets the sensor to sensor transformation for a pair of sensors.

This transformation relates the first and second sensor coordinate systems to each other. Identity transformations are used for sensors that don't support a native extrinsic frame.

Parameters

[out]	transformation	A pointer to the transformation from sensor to sensor coordinate system.
[in]	sensorIdFrom	Specifies the index of the source sensor.
[in]	sensorIdTo	Specifies the index of the destination sensor.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the transformation pointer is NULL
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_SUCCESS	when operation succeeded

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwRig_getSensorType()

DW_API_PUBLIC dwStatus dwRig_getSensorType	(	dwSensorType *const	sensorType,
		uint32_t const	sensorId,
		dwConstRigHandle_t const	obj
	)

Returns the type of sensor based upon the sensorID sent into the method.

Parameters

[out]	sensorType	A pointer to return the type of sensor
[in]	sensorId	Specifies the index of the queried sensor.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when given pointer is null or sensorId doesn't exist
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_SUCCESS	when operation succeeded

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwRig_getVehicle()

DW_API_PUBLIC dwStatus dwRig_getVehicle	(	dwVehicle const **const	vehicle,
		dwConstRigHandle_t const	obj
	)

DEPRECATED: Gets the properties of a passenger car vehicle.

Deprecated:: Use dwRig_getGenericVehicle.

Parameters

[out]	vehicle	A pointer to the struct holding vehicle properties. The returned pointer is valid until module reset or release is called.
[in]	obj	Specifies the Rig Configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the rig configuration handle is NULL
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_NOT_AVAILABLE	when no vehicle in configuration is available
DW_SUCCESS	when operation succeeded

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwRig_getVehicleIOConfigCount()

DW_API_PUBLIC dwStatus dwRig_getVehicleIOConfigCount	(	uint32_t *const	vioConfigCount,
		dwConstRigHandle_t const	obj
	)

Gets the number of vehicle IO sensors.

Parameters

[out]	vioConfigCount	A pointer to the number of vehicle IO sensors in the Rig Configuration.
[in]	obj	Specifies the Rig Configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the rig configuration handle is NULL
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_SUCCESS	when operation succeeded

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwRig_initializeFromFile()

DW_API_PUBLIC dwStatus dwRig_initializeFromFile	(	dwRigHandle_t *const	obj,
		dwContextHandle_t const	ctx,
		char8_t const *const	configurationFile
	)

Initializes the Rig Configuration module from a file.

Note: : Any relative file-system reference will be relative to the rig file location.

Parameters

[out]	obj	A pointer to the Rig Configuration handle for the created module.
[in]	ctx	Specifies the handler to the context under which the Rigconfiguration module is created.
[in]	configurationFile	The path of a rig file that contains the rig configuration. Typically produced by the DriveWorks calibration tool.

Return values

DW_INVALID_ARGUMENT	when the rig configuration handle is NULL or if the json file has no extension
DW_INVALID_HANDLE	when the context handle is invalid, i.e null or wrong type
DW_FILE_INVALID	when the json file is invalid
DW_FILE_NOT_FOUND	when the json file cannot be found
DW_INTERNAL_ERROR	when internal error happens
DW_BUFFER_FULL	when too many extrinsic profiles are available (> 3)
DW_SUCCESS	when operation succeeded

API Group

Init: Yes
Runtime: No
De-Init: No

◆ dwRig_initializeFromString()

DW_API_PUBLIC dwStatus dwRig_initializeFromString	(	dwRigHandle_t *const	obj,
		dwContextHandle_t const	ctx,
		char8_t const *const	configurationString,
		char8_t const *const	relativeBasePath
	)

Initializes the Rig Configuration module from a string.

Parameters

[out]	obj	A pointer to the Rig Configuration handle for the created module.
[in]	ctx	Specifies the handler to the context under which the Rigconfiguration module is created.
[in]	configurationString	A pointer to a JSON string that contains the rig configuration. Typically produced by the DriveWorks calibration tool.
[in]	relativeBasePath	A base path all relative file references in the rig will be resolved with respect to. If NULL, then the current working directory of the process will be used implicitly.

Return values

DW_INVALID_ARGUMENT	when the rig configuration handle is NULL or if the json file has no extension
DW_INVALID_HANDLE	when the context handle is invalid, i.e null or wrong type
DW_INTERNAL_ERROR	when internal error happens
DW_BUFFER_FULL	when too many extrinsic profiles are available (> 3)
DW_SUCCESS	when operation succeeded

API Group

Init: Yes
Runtime: No
De-Init: No

◆ dwRig_release()

DW_API_PUBLIC dwStatus dwRig_release ( dwRigHandle_t const obj )

Releases the Rig Configuration module.

Parameters

[in] obj The Rig Configuration module handle.

Return values

DW_INVALID_HANDLE	when the configuration handle is invalid , i.e NULL or wrong type
DW_SUCCESS	when operation succeeded

API Group

Init: Yes
Runtime: No
De-Init: Yes

◆ dwRig_reset()

DW_API_PUBLIC dwStatus dwRig_reset ( dwRigHandle_t const obj )

Resets the Rig Configuration module.

Parameters

[in] obj Specifies the Rig Configuration module handle.

Return values

DW_INVALID_HANDLE	when the rig handle is invalid, i.e null or wrong type
DW_SUCCESS	when operation succeeded

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwRig_serializeToFile()

DW_API_PUBLIC dwStatus dwRig_serializeToFile	(	char8_t const *const	configurationFile,
		dwConstRigHandle_t const	obj
	)

This method serializes the rig-configuration object to a human-readable rig-configuration file.

The output file contains the full state of the rig-configuration and can again be loaded with dwRig_initializeFromFile().

The serialization format is selected based on the file name extension; currently supported extensions are json.

Parameters

[in]	configurationFile	The name of the file to serialize to. It's extension is used to select the serialization format. This method will overwrite the file if it exists.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the configurationFile pointer is invalid, or if the serialization format is not supported
DW_INVALID_HANDLE	when provided RigConfigurationHandle handle is invalid.
DW_FILE_INVALID	in case of error during serialization.
DW_SUCCESS	when operation succeeded

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwRig_setFThetaCameraConfig()

DW_API_PUBLIC dwStatus dwRig_setFThetaCameraConfig	(	dwFThetaCameraConfig const *const	config,
		uint32_t const	sensorId,
		dwRigHandle_t const	obj
	)

Sets the parameters of the FTheta camera model.

Parameters

[in]	config	A pointer to the configuration of the camera intrinsics.
[in]	sensorId	Specifies the index of the queried sensor.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the config pointer is NULL
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_CANNOT_CREATE_OBJECT	when the sensor has no camera model
DW_SUCCESS	when operation succeeded

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwRig_setGenericVehicle()

DW_API_PUBLIC dwStatus dwRig_setGenericVehicle	(	dwGenericVehicle const *const	vehicle,
		dwRigHandle_t const	obj
	)

Sets the properties of a generic vehicle (car or truck).

Parameters

[in]	vehicle	A pointer to the struct holding vehicle properties.
[in]	obj	Specifies the Rig Configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the rig configuration handle is NULL
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_NOT_AVAILABLE	when no generic vehicle in configuration is available
DW_SUCCESS	when operation succeeded

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwRig_setPinholeCameraConfig()

DW_API_PUBLIC dwStatus dwRig_setPinholeCameraConfig	(	dwPinholeCameraConfig const *const	config,
		uint32_t const	sensorId,
		dwRigHandle_t const	obj
	)

Sets the parameters of the pinhole camera model.

Parameters

[in]	config	A pointer to the configuration of the camera intrinsics.
[in]	sensorId	Specifies the index of the queried sensor.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the config pointer is NULL
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_NOT_AVAILABLE	when the sensor has no camera model
DW_SUCCESS	when operation succeeded

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwRig_setSensorParameter()

DW_API_PUBLIC dwStatus dwRig_setSensorParameter	(	char8_t const *const	sensorParameter,
		uint32_t const	sensorId,
		dwRigHandle_t const	obj
	)

Sets the parameter string for a sensor.

This string can be used in sensor creation.

Parameters

[in]	sensorParameter	string representing sensor parameters, for example camera driver and csi port. Maximal length is limited to 512.
[in]	sensorId	Specifies the index of the sensor of which to set sensor parameter.
[in]	obj	Specifies the Rig Configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the sensor parameter string is NULL
DW_INVALID_HANDLE	when the rig configuration handle is invalid, i.e null or wrong type
DW_OUT_OF_BOUNDS	when the index of the sensor to be updated is more than MAX_SENSOR_COUNT
DW_SUCCESS	when operation succeeded

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwRig_setSensorToRigTransformation()

DW_API_PUBLIC dwStatus dwRig_setSensorToRigTransformation	(	dwTransformation3f const *const	transformation,
		uint32_t const	sensorId,
		dwRigHandle_t const	obj
	)

Sets the sensor to rig transformation for a sensor.

See also: dwRig_getSensorToRigTransformation.

Parameters

[in]	transformation	A pointer to the transformation from sensor to rig coordinate system.
[in]	sensorId	Specifies the index of the updates sensor.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the transformation pointer is NULL
DW_INVALID_HANDLE	when the transformation pointer is NULL
DW_CALL_NOT_ALLOWED	when the sensor's type doesn't support extrinsics
DW_SUCCESS	when operation succeeded

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwRig_setVehicle()

DW_API_PUBLIC dwStatus dwRig_setVehicle	(	dwVehicle const *const	vehicle,
		dwRigHandle_t const	obj
	)

DEPRECATED: Sets the properties of a passenger car vehicle.

Deprecated:: Use dwRig_setGenericVehicle.

Parameters

[in]	vehicle	A pointer to the struct holding vehicle properties.
[in]	obj	Specifies the Rig Configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the rig configuration handle is NULL
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_NOT_AVAILABLE	when no vehicle in configuration is available
DW_SUCCESS	when operation succeeded

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_VEHICLE_MAX_NUM_TRAILERS

◆ DW_VEHICLE_NUM_CONTOUR_POINTS

◆ DW_VEHICLE_STEER_MAP_POLY_DEGREE

◆ DW_VEHICLE_STEER_MAP_POLY_DEGREE_PLUS_ONE

◆ DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE

Typedef Documentation

◆ dwConstRigHandle_t

◆ dwGenericVehicle

◆ dwRigHandle_t

◆ dwVehicle

◆ dwVehicleActuationProperties

◆ dwVehicleArticulationProperties

◆ dwVehicleAxleProperties

◆ dwVehicleBodyProperties

◆ dwVehicleCabin

◆ dwVehicleDynamicsProperties

◆ dwVehicleSuspensionProperties

◆ dwVehicleTorqueLUT

◆ dwVehicleTrailer

◆ dwVehicleTrailerType

◆ dwVehicleWheelEncoderProperties

◆ dwVehicleWheels

Enumeration Type Documentation

◆ dwVehicleTrailerType

◆ dwVehicleWheels

Function Documentation

◆ dwRig_addOrSetPropertyByName()

◆ dwRig_addOrSetSensorPropertyByName()

◆ dwRig_findSensorByName()

◆ dwRig_findSensorByTypeIndex()

◆ dwRig_findSensorIdFromVehicleIOId()

◆ dwRig_getCameraModel()

◆ dwRig_getCameraTimestampPath()

◆ dwRig_getFThetaCameraConfig()

◆ dwRig_getFThetaCameraConfigNew()

◆ dwRig_getGenericVehicle()

◆ dwRig_getNominalSensorToRigTransformation()

◆ dwRig_getNominalSensorToSensorTransformation()

◆ dwRig_getPinholeCameraConfig()

◆ dwRig_getPropertyByName()

◆ dwRig_getSensorCount()

◆ dwRig_getSensorCountOfType()

◆ dwRig_getSensorDataPath()

◆ dwRig_getSensorFLUToRigTransformation()

◆ dwRig_getSensorName()

◆ dwRig_getSensorParameter()

◆ dwRig_getSensorParameterUpdatedPath()

◆ dwRig_getSensorPropertyByName()

◆ dwRig_getSensorProtocol()

◆ dwRig_getSensorToRigTransformation()

◆ dwRig_getSensorToSensorTransformation()

◆ dwRig_getSensorType()

◆ dwRig_getVehicle()

◆ dwRig_getVehicleIOConfigCount()

◆ dwRig_initializeFromFile()

◆ dwRig_initializeFromString()

◆ dwRig_release()

◆ dwRig_reset()

◆ dwRig_serializeToFile()

◆ dwRig_setFThetaCameraConfig()

◆ dwRig_setGenericVehicle()

◆ dwRig_setPinholeCameraConfig()

◆ dwRig_setSensorParameter()

◆ dwRig_setSensorToRigTransformation()

◆ dwRig_setVehicle()