DriveWorks SDK Reference
5.4.5418 Release
For Test and Development only

PointCloudStitcher.h
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30 
47 #ifndef DW_POINTCLOUDPROCESSING_POINTCLOUDSTITCHER_H_
48 #define DW_POINTCLOUDPROCESSING_POINTCLOUDSTITCHER_H_
49 
50 #include <dw/core/base/Types.h>
51 #include <dw/egomotion/Egomotion.h>
53 
54 #ifdef __cplusplus
55 extern "C" {
56 #endif
57 
61 #define DW_POINTCLOUD_STITCHER_MAX_POINT_CLOUDS DW_BIND_SLOT_MAX_COUNT
62 
63 typedef struct dwPointCloudStitcherObject* dwPointCloudStitcherHandle_t;
64 
73 dwStatus dwPointCloudStitcher_initialize(dwPointCloudStitcherHandle_t* obj,
74  dwContextHandle_t ctx);
75 
83 dwStatus dwPointCloudStitcher_reset(dwPointCloudStitcherHandle_t obj);
84 
92 dwStatus dwPointCloudStitcher_release(dwPointCloudStitcherHandle_t obj);
93 
102 dwStatus dwPointCloudStitcher_getCUDAStream(cudaStream_t* stream,
103  dwPointCloudStitcherHandle_t obj);
104 
113 dwStatus dwPointCloudStitcher_setCUDAStream(const cudaStream_t stream,
114  dwPointCloudStitcherHandle_t obj);
115 
126  dwEgomotionConstHandle_t egomotion,
127  dwPointCloudStitcherHandle_t obj);
128 
136 dwStatus dwPointCloudStitcher_disableMotionCompensation(dwPointCloudStitcherHandle_t obj);
137 
149  dwPointCloudStitcherHandle_t obj);
150 
163  const dwPointCloud* pointCloud,
164  const dwTransformation3f* transform,
165  dwPointCloudStitcherHandle_t obj);
166 
176  dwPointCloudStitcherHandle_t obj);
177 
187 dwStatus dwPointCloudStitcher_process(dwPointCloudStitcherHandle_t obj);
188 
189 #ifdef __cplusplus
190 }
191 #endif
192 
193 #endif // DW_POINTCLOUDPROCESSING_POINTCLOUDSTITCHER_H_
NVIDIA DriveWorks API: Core Types
NVIDIA DriveWorks API: Egomotion Methods
Defines point cloud data structure.
Definition: PointCloud.h:98
DW_API_PUBLIC dwStatus dwPointCloudStitcher_disableMotionCompensation(dwPointCloudStitcherHandle_t obj)
Disables motion compensation for the stitched point cloud.
Specifies a 3D rigid transformation.
Definition: Types.h:467
DW_API_PUBLIC dwStatus dwPointCloudStitcher_setGlobalTransformation(const dwTransformation3f *tx, dwPointCloudStitcherHandle_t obj)
Sets global transformation for the stitched point cloud.
DW_API_PUBLIC dwStatus dwPointCloudStitcher_process(dwPointCloudStitcherHandle_t obj)
Transforms all the input point clouds to a common coordinate.
dwStatus
Status definition.
Definition: Status.h:180
DW_API_PUBLIC dwStatus dwPointCloudStitcher_bindOutput(dwPointCloud *points, dwPointCloudStitcherHandle_t obj)
Binds output buffer to the point cloud stitcher.
DW_API_PUBLIC dwStatus dwPointCloudStitcher_bindInput(dwBindSlot slot, const dwPointCloud *pointCloud, const dwTransformation3f *transform, dwPointCloudStitcherHandle_t obj)
Binds input point cloud to the point cloud stitcher.
dwBindSlot
The slot enum used when an application wants a dw module to bind some particular input data to an int...
Definition: Types.h:557
int64_t dwTime_t
Specifies a timestamp unit, in microseconds.
Definition: Types.h:82
DW_API_PUBLIC dwStatus dwPointCloudStitcher_initialize(dwPointCloudStitcherHandle_t *obj, dwContextHandle_t ctx)
Initializes point cloud stitcher.
DW_API_PUBLIC dwStatus dwPointCloudStitcher_enableMotionCompensation(dwTime_t timestamp, dwEgomotionConstHandle_t egomotion, dwPointCloudStitcherHandle_t obj)
Enables motion compensation for the stitched point cloud.
struct dwEgomotionObject const * dwEgomotionConstHandle_t
Definition: Egomotion.h:78
NVIDIA DriveWorks API: Point Cloud Processing
struct dwPointCloudStitcherObject * dwPointCloudStitcherHandle_t
struct dwContextObject * dwContextHandle_t
Context handle.
Definition: Context.h:79
DW_API_PUBLIC dwStatus dwPointCloudStitcher_reset(dwPointCloudStitcherHandle_t obj)
Resets point cloud stitcher.
DW_API_PUBLIC dwStatus dwPointCloudStitcher_getCUDAStream(cudaStream_t *stream, dwPointCloudStitcherHandle_t obj)
Gets CUDA stream of point cloud stitcher.
#define DW_API_PUBLIC
Definition: Exports.h:54
DW_API_PUBLIC dwStatus dwPointCloudStitcher_setCUDAStream(const cudaStream_t stream, dwPointCloudStitcherHandle_t obj)
Sets CUDA stream of point cloud stitcher.
DW_API_PUBLIC dwStatus dwPointCloudStitcher_release(dwPointCloudStitcherHandle_t obj)
Releases point cloud stitcher.