47 #ifndef DW_POINTCLOUDPROCESSING_POINTCLOUDRANGEIMAGECREATOR_H_ 48 #define DW_POINTCLOUDPROCESSING_POINTCLOUDRANGEIMAGECREATOR_H_ 160 dwConstPointCloudRangeImageCreatorHandle_t
const obj);
173 dwPointCloudRangeImageCreatorHandle_t
const obj);
187 dwConstPointCloudRangeImageCreatorHandle_t
const obj);
201 dwPointCloudRangeImageCreatorHandle_t
const obj);
215 dwPointCloudRangeImageCreatorHandle_t
const obj);
232 dwPointCloudRangeImageCreatorHandle_t
const obj);
262 DW_DEPRECATED(
"dwPointCloudRangeImageCreator_initialize() is renamed / deprecated and will be removed in the next major release," 263 " use dwPCRangeImageCreator_initialize() instead")
326 dwConstPointCloudRangeImageCreatorHandle_t const obj);
342 dwPointCloudRangeImageCreatorHandle_t const obj);
359 dwConstPointCloudRangeImageCreatorHandle_t const obj);
376 dwPointCloudRangeImageCreatorHandle_t const obj);
393 dwPointCloudRangeImageCreatorHandle_t const obj);
413 dwPointCloudRangeImageCreatorHandle_t const obj);
435 #endif // DW_POINTCLOUDPROCESSING_POINTCLOUDRANGEIMAGECREATOR_H_ NVIDIA DriveWorks API: Core Types
float32_t maxElevationRadians
Maximum pitch angle.
DW_API_PUBLIC dwStatus dwPCRangeImageCreator_getImageProperties(dwImageProperties *const imageProperties, dwConstPointCloudRangeImageCreatorHandle_t const obj)
Get properties of an image to bind as an output.
R_FLOAT32 image where each pixel is the 3D distance in XYZ space.
float float32_t
Specifies POD types.
struct dwImageObject * dwImageHandle_t
Defines point cloud data structure.
DW_API_PUBLIC dwStatus dwPointCloudRangeImageCreator_getCUDAStream(cudaStream_t *const stream, dwConstPointCloudRangeImageCreatorHandle_t const obj)
Gets CUDA stream of range image creator.
DW_API_PUBLIC dwStatus dwPCRangeImageCreator_release(dwPointCloudRangeImageCreatorHandle_t const obj)
Releases range image creator.
uint32_t height
Output image height.
DW_API_PUBLIC dwStatus dwPCRangeImageCreator_bindInput(dwPointCloud const *const pointCloud, dwPointCloudRangeImageCreatorHandle_t const obj)
Binds input point cloud to range image creator.
DW_API_PUBLIC dwStatus dwPointCloudRangeImageCreator_initialize(dwPointCloudRangeImageCreatorHandle_t *const obj, dwPointCloudRangeImageCreatorParams const *const params, dwContextHandle_t const ctx)
Initializes range image creator.
DW_API_PUBLIC dwStatus dwPointCloudRangeImageCreator_reset(dwPointCloudRangeImageCreatorHandle_t const obj)
Resets range image creator.
uint32_t maxInputPoints
Maximum number of point in input point cloud.
DW_API_PUBLIC dwStatus dwPCRangeImageCreator_getCUDAStream(cudaStream_t *const stream, dwConstPointCloudRangeImageCreatorHandle_t const obj)
Gets CUDA stream of range image creator.
const struct dwPointCloudRangeImageCreatorObject * dwConstPointCloudRangeImageCreatorHandle_t
float32_t farDist
Maximum distance.
NVIDIA DriveWorks API: Image Conversion and Streaming Functionality
struct dwPointCloudRangeImageCreatorObject * dwPointCloudRangeImageCreatorHandle_t
DW_API_PUBLIC dwStatus dwPCRangeImageCreator_initialize(dwPointCloudRangeImageCreatorHandle_t *const obj, dwPointCloudRangeImageCreatorParams const *const params, dwContextHandle_t const ctx)
Initializes range image creator.
float32_t nearDist
Minimum distance.
Data structure representing an oriented bounding box in the local object coordinate frame The box is ...
dwMemoryType
Memory type definitions.
Defines point cloud range image creator parameters.
dwStatus
Status definition.
DW_API_PUBLIC dwStatus dwPCRangeImageCreator_getDefaultParams(dwPointCloudRangeImageCreatorParams *const params)
Gets default range image creator parameters.
dwPointCloudRangeImageType type
Range image type.
DW_API_PUBLIC dwStatus dwPointCloudRangeImageCreator_bindOutput(dwImageHandle_t const image, dwPointCloudRangeImageCreatorHandle_t const obj)
Binds output range image to range image creator.
DW_API_PUBLIC dwStatus dwPointCloudRangeImageCreator_bindOutputPointCloud(dwPointCloud *const pointCloud, dwPointCloudRangeImageCreatorHandle_t const obj)
Binds output point cloud to range image creator.
DW_API_PUBLIC dwStatus dwPointCloudRangeImageCreator_release(dwPointCloudRangeImageCreatorHandle_t const obj)
Releases range image creator.
DW_API_PUBLIC dwStatus dwPointCloudRangeImageCreator_bindInput(dwPointCloud const *const pointCloud, dwPointCloudRangeImageCreatorHandle_t const obj)
Binds input point cloud to range image creator.
#define DW_DEPRECATED(msg)
DW_API_PUBLIC dwStatus dwPointCloudRangeImageCreator_getDefaultParams(dwPointCloudRangeImageCreatorParams *const params)
Gets default range image creator parameters.
dwTransformation3f transformation
Transformation applied to input points, if 0, identity will be used.
float32_t minAzimuthRadians
Mimimum yaw angle.
dwOrientedBoundingBox3f orientedBoundingBox
Bounding box identifying clipping planes.
NVIDIA DriveWorks API: Point Cloud Processing
DW_API_PUBLIC dwStatus dwPointCloudRangeImageCreator_setCUDAStream(cudaStream_t const stream, dwPointCloudRangeImageCreatorHandle_t const obj)
Sets CUDA stream of range image creator.
dwPointCloudRangeImageType
Definition of the image type of Lidar cylindrical projection image.
DW_API_PUBLIC dwStatus dwPointCloudRangeImageCreator_process(dwPointCloudRangeImageCreatorHandle_t const obj)
Organizes input point cloud and projects on the spherical coordinate to form a range image...
Defines range image clipping parameters.
struct dwContextObject * dwContextHandle_t
Context handle.
NVIDIA DriveWorks API: Core Methods
DW_API_PUBLIC dwStatus dwPCRangeImageCreator_reset(dwPointCloudRangeImageCreatorHandle_t const obj)
Resets range image creator.
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...
dwMemoryType memoryType
Memory type, CUDA or CPU.
float32_t minElevationRadians
Mimimum pitch angle.
R_FLOAT32 image where each pixel is the Lidar intensity.
DW_API_PUBLIC dwStatus dwPCRangeImageCreator_bindOutput(dwImageHandle_t const image, dwPointCloudRangeImageCreatorHandle_t const obj)
Binds output range image to range image creator.
DW_API_PUBLIC dwStatus dwPCRangeImageCreator_setCUDAStream(cudaStream_t const stream, dwPointCloudRangeImageCreatorHandle_t const obj)
Sets CUDA stream of range image creator.
uint32_t width
Output image width.
DW_API_PUBLIC dwStatus dwPointCloudRangeImageCreator_getImageProperties(dwImageProperties *const imageProperties, dwConstPointCloudRangeImageCreatorHandle_t const obj)
Get properties of an image to bind as an output.
Defines the properties of the image.
DW_API_PUBLIC dwStatus dwPCRangeImageCreator_bindPointCloudOutput(dwPointCloud *const pointCloud, dwPointCloudRangeImageCreatorHandle_t const obj)
Binds output point cloud to range image creator.
float32_t maxAzimuthRadians
Maximum yaw angle.
dwPointCloudRangeImageClippingParams clippingParams
Clipping parameters.
RGBA_FLOAT32 image where each pixel is a tuple of 3D Lidar coordinate and intensity.