Lidar.h File Reference

Detailed Description

NVIDIA DriveWorks API: Lidar

Description: This file defines the Lidar sensor.

Definition in file Lidar.h.

Go to the source code of this file.

Data Structures
struct	dwLidarDecodedPacket
struct	dwLidarPointRTheta
struct	dwLidarPointXYZI
	Holds a Lidar point cloud XYZ and the associated intensity. More...
struct	dwLidarProperties

Enumerations
enum	dwLidarDecodeFormat {   DW_LIDAR_DECODE_FORMAT_XYZI = 0,   DW_LIDAR_DECODE_FORMAT_RTHI = 1 }

Functions
DW_API_PUBLIC dwStatus	dwSensorLidar_disableDecoding (dwSensorHandle_t sensor)
	Disable the decoding of the Lidar packets, which frees additional CPU load. More...
DW_API_PUBLIC dwStatus	dwSensorLidar_enableDecoding (dwSensorHandle_t sensor)
	Enables the decoding of the Lidar packets, which incurs an additional CPU load. More...
DW_API_PUBLIC dwStatus	dwSensorLidar_getDecodingFormat (dwLidarDecodeFormat *format, dwSensorHandle_t sensor)
	Gets the selected decoding format of the point cloud. More...
DW_API_PUBLIC dwStatus	dwSensorLidar_getProperties (dwLidarProperties *lidarProperties, dwSensorHandle_t sensor)
	Gets information about the Lidar sensor. More...
DW_API_PUBLIC dwStatus	dwSensorLidar_isDecodingEnabled (dwBool *enable, dwSensorHandle_t sensor)
	Retrieves the state of packet decoding. More...
DW_API_PUBLIC dwStatus	dwSensorLidar_processRawData (const dwLidarDecodedPacket **data, const uint8_t *rawData, size_t size, dwSensorHandle_t sensor)
	Decodes RAW data previously read and returns a pointer to it. More...
DW_API_PUBLIC dwStatus	dwSensorLidar_readPacket (const dwLidarDecodedPacket **data, dwTime_t timeout_us, dwSensorHandle_t sensor)
	Reads one scan packet. More...
DW_API_PUBLIC dwStatus	dwSensorLidar_returnPacket (const dwLidarDecodedPacket *scan, dwSensorHandle_t sensor)
	Returns the data read to the internal pool. More...
DW_API_PUBLIC dwStatus	dwSensorLidar_setDecodingFormat (dwLidarDecodeFormat format, dwSensorHandle_t sensor)
	Sets decoding format of the point cloud. More...