45 #ifndef DW_LIDAR_ACCUMULATOR_H__ 46 #define DW_LIDAR_ACCUMULATOR_H__ 137 dwLidarAccumulatorHandle_t obj);
153 dwLidarAccumulatorHandle_t obj);
233 dwLidarAccumulatorHandle_t obj);
240 #endif // DW_LIDAR_ACCUMULATOR_H__ DW_API_PUBLIC dwStatus dwLidarAccumulator_createImage(dwImageCPU *lidarImage, dwLidarAccumulatorHandle_t obj)
Creates Lidar Cylindrical Image.
NVIDIA DriveWorks API: Core Types
float float32_t
Specifies POD types.
NVIDIA DriveWorks API: Lidar
each pixel is the 3D distance in XYZ space
DW_API_PUBLIC dwStatus dwLidarAccumulator_returnSweep(dwLidarAccumulatorHandle_t obj)
Returns the sweep/image or both to the Lidar Accumulator.
uint32_t dataCount
Total number of points in data.
uint64_t dwTime_t
Specifies a timestamp unit, in microseconds.
DW_API_PUBLIC dwStatus dwLidarAccumulator_getSweep(dwLidarAccumulatorBuffer *sweep, dwLidarAccumulatorHandle_t obj)
Gets sweeps/spins of Lidar Point Cloud.
NVIDIA DriveWorks API: Core Methods
each pixel is the Lidar intensity
dwLidarImageType
Definition of the image type of Lidar cylindrical projection image.
NVIDIA DriveWorks API: Core Exports
Definition of Lidar Accumulator buffer.
NVIDIA DriveWorks API: Image Conversion and Streaming Functionality
dwStatus
Status definition.
struct dwLidarAccumulatorObject const * dwConstLidarAccumulatorHandle_t
each pixel is the 2D distance in XY Plane
DW_API_PUBLIC dwStatus dwLidarAccumulator_release(dwLidarAccumulatorHandle_t *obj)
Releases the Lidar Accumulator module.
DW_API_PUBLIC dwStatus dwLidarAccumulator_setAngleSpan(float32_t minAngleDegree, float32_t maxAngleDegree, dwLidarAccumulatorHandle_t obj)
Sets angle of interest for Lidar Accumulator to collect.
DW_API_PUBLIC dwStatus dwLidarAccumulator_initialize(dwLidarAccumulatorHandle_t *obj, dwContextHandle_t context, uint32_t filterWinSize, const dwLidarProperties *lidarProperties)
Initializes Lidar Accumulator module.
const dwTime_t * sensorTimestamps
Sensor timestamps.
struct dwContextObject * dwContextHandle_t
Context handle.
DW_API_PUBLIC dwStatus dwLidarAccumulator_addPacket(const dwLidarDecodedPacket *packet, dwLidarAccumulatorHandle_t obj)
Adds a dwLidarDecodedPacket to Lidar Accumulator module, thread-safe.
const dwTime_t * hostTimestamps
Host timestamps.
DW_API_PUBLIC dwStatus dwLidarAccumulator_fillImage(dwImageCPU *lidarImage, dwLidarImageType type, dwLidarAccumulatorHandle_t obj)
Fills image previously created with Lidar Cylindrical Image.
DW_API_PUBLIC dwStatus dwLidarAccumulator_destroyImage(dwImageCPU *lidarImage, dwLidarAccumulatorHandle_t obj)
Destroys Lidar Cylindrical Image.
DW_API_PUBLIC dwStatus dwLidarAccumulator_reset(dwLidarAccumulatorHandle_t obj)
Resets Lidar Accumulator module.
DW_API_PUBLIC dwStatus dwLidarAccumulator_setDistanceSpan(float32_t minDistanceMeter, float32_t maxDistanceMeter, dwLidarAccumulatorHandle_t obj)
Sets distance of interest for Lidar Accumulator to collect.
const dwVector4f * data
Organized Lidar points in Cartesian coordinate XYZI It includes both zero and non-zero points...
NVIDIA DriveWorks API: Core Status Methods
struct dwLidarAccumulatorObject * dwLidarAccumulatorHandle_t
Handle to dwLidarAccumulator.
uint32_t validCount
Total number of non-zero points.
Defines a CPU-based image.