DriveWorks SDK Reference

| 0.6.67 Release

LidarAccumulator.h
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30 
45 #ifndef DW_LIDAR_ACCUMULATOR_H__
46 #define DW_LIDAR_ACCUMULATOR_H__
47 
48 #include <dw/core/Exports.h>
49 #include <dw/core/Types.h>
50 #include <dw/core/Status.h>
51 #include <dw/core/Context.h>
52 #include <dw/sensors/lidar/Lidar.h>
53 #include <dw/image/Image.h>
54 
55 #ifdef __cplusplus
56 extern "C" {
57 #endif
58 
60 typedef struct dwLidarAccumulatorObject *dwLidarAccumulatorHandle_t;
61 typedef struct dwLidarAccumulatorObject const *dwConstLidarAccumulatorHandle_t;
62 
64 typedef enum {
69 
71 typedef struct {
73  uint32_t validCount;
75  uint32_t dataCount;
78  const dwVector4f *data;
84 
99 dwStatus dwLidarAccumulator_initialize(dwLidarAccumulatorHandle_t *obj, dwContextHandle_t context,
100  uint32_t filterWinSize, const dwLidarProperties *lidarProperties);
101 
110 dwStatus dwLidarAccumulator_createImage(dwImageCPU *lidarImage, dwLidarAccumulatorHandle_t obj);
111 
122 dwStatus dwLidarAccumulator_destroyImage(dwImageCPU *lidarImage, dwLidarAccumulatorHandle_t obj);
123 
136 dwStatus dwLidarAccumulator_setAngleSpan(float32_t minAngleDegree, float32_t maxAngleDegree,
137  dwLidarAccumulatorHandle_t obj);
138 
152  float32_t maxDistanceMeter,
153  dwLidarAccumulatorHandle_t obj);
154 
162 dwStatus dwLidarAccumulator_release(dwLidarAccumulatorHandle_t *obj);
163 
171 dwStatus dwLidarAccumulator_reset(dwLidarAccumulatorHandle_t obj);
172 
187 dwStatus dwLidarAccumulator_addPacket(const dwLidarDecodedPacket *packet, dwLidarAccumulatorHandle_t obj);
188 
204 dwStatus dwLidarAccumulator_getSweep(dwLidarAccumulatorBuffer *sweep, dwLidarAccumulatorHandle_t obj);
205 
215 dwStatus dwLidarAccumulator_returnSweep(dwLidarAccumulatorHandle_t obj);
216 
232 dwStatus dwLidarAccumulator_fillImage(dwImageCPU *lidarImage, dwLidarImageType type,
233  dwLidarAccumulatorHandle_t obj);
234 
235 #ifdef __cplusplus
236 }
237 #endif
238 
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.
Definition: Types.h:77
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.
Definition: Types.h:89
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.
Definition: Status.h:167
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.
Definition: Context.h:78
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.
#define DW_API_PUBLIC
Definition: Exports.h:76
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.
Definition: Image.h:239