RigConfiguration.h File Reference

Detailed Description

NVIDIA DriveWorks API: Rig Configuration

Description: This file defines vehicle rig configuration methods.

Definition in file RigConfiguration.h.

Go to the source code of this file.

Data Structures
struct	dwFThetaCameraConfig
	Configuration parameters for a calibrated FTheta camera. More...
struct	dwOCamCameraConfig
	Configuration parameters for a calibrated OCam sphere camera. More...
struct	dwPinholeCameraConfig
	Configuration parameters for a calibrated pinhole camera. More...
struct	dwVehicle
	Properties of the vehicle. More...

Macros
#define	DW_FTHETA_POLY_LENGTH   5
#define	DW_OCAM_POLY_LENGTH   5
#define	DW_PINHOLE_DISTORTION_LENGTH   3

Typedefs
typedef struct dwRigConfigurationObject const *	dwConstRigConfigurationHandle_t
typedef struct dwRigConfigurationObject *	dwRigConfigurationHandle_t
	Handle representing the Sensor Abstraction Layer interface. More...

Enumerations
enum	dwCameraModel {   DW_CAMERA_MODEL_OCAM = 0,   DW_CAMERA_MODEL_PINHOLE = 1,   DW_CAMERA_MODEL_FTHETA = 2 }
	Specifies the supported optical camera models. More...

Functions
DW_API_PUBLIC dwStatus	dwRigConfiguration_findSensorByName (uint32_t *sensorID, const char *sensorName, dwConstRigConfigurationHandle_t obj)
	Finds a sensor with the given name and returns the index. More...
DW_API_PUBLIC dwStatus	dwRigConfiguration_getCameraModel (dwCameraModel *cameraModel, uint32_t sensorID, dwConstRigConfigurationHandle_t obj)
	Gets the model type of the camera intrinsics. More...
DW_API_PUBLIC dwStatus	dwRigConfiguration_getFThetaCameraConfig (dwFThetaCameraConfig *config, uint32_t sensorID, dwConstRigConfigurationHandle_t obj)
	Gets the parameters of the FTheta camera model. More...
DW_API_PUBLIC dwStatus	dwRigConfiguration_getOCamCameraConfig (dwOCamCameraConfig *config, uint32_t sensorID, dwConstRigConfigurationHandle_t obj)
	Gets the parameters of the OCam camera model. More...
DW_API_PUBLIC dwStatus	dwRigConfiguration_getPinholeCameraConfig (dwPinholeCameraConfig *config, uint32_t sensorID, dwConstRigConfigurationHandle_t obj)
	Gets the parameters of the pinhole camera model. More...
DW_API_PUBLIC dwStatus	dwRigConfiguration_getSensorCount (uint32_t *sensorCount, dwConstRigConfigurationHandle_t obj)
	Gets the number of available sensors. More...
DW_API_PUBLIC dwStatus	dwRigConfiguration_getSensorName (const char **sensorName, uint32_t sensorID, dwConstRigConfigurationHandle_t obj)
	Gets the name of a sensor as given in the configuration. More...
DW_API_PUBLIC dwStatus	dwRigConfiguration_getSensorParameter (const char **sensorParameter, uint32_t sensorID, dwConstRigConfigurationHandle_t obj)
	Gets the parameter string for a sensor. More...
DW_API_PUBLIC dwStatus	dwRigConfiguration_getSensorProtocol (const char **sensorProtocol, uint32_t sensorID, dwConstRigConfigurationHandle_t obj)
	Gets the protocol string of a sensor. More...
DW_API_PUBLIC dwStatus	dwRigConfiguration_getSensorToRigTransformation (dwTransformation *transformation, uint32_t sensorID, dwConstRigConfigurationHandle_t obj)
	Gets the sensor to rig transformation for a sensor. More...
DW_API_PUBLIC dwStatus	dwRigConfiguration_getSensorType (dwSensorType *sensorType, uint32_t sensorID, dwConstRigConfigurationHandle_t obj)
	Returns the type of sensor based upon the sensorID sent into the method. More...
DW_API_PUBLIC dwStatus	dwRigConfiguration_getVehicle (const dwVehicle **vehicle, dwConstRigConfigurationHandle_t obj)
	Gets the properties of the vehicle. More...
DW_API_PUBLIC dwStatus	dwRigConfiguration_initializeFromFile (dwRigConfigurationHandle_t *obj, dwContextHandle_t ctx, const char *configurationFile)
	Initializes the Rig Configuration module. More...
DW_API_PUBLIC dwStatus	dwRigConfiguration_release (dwRigConfigurationHandle_t *obj)
	Releases the Rig Configuration module. More...
DW_API_PUBLIC dwStatus	dwRigConfiguration_reset (dwRigConfigurationHandle_t obj)
	Resets the Rig Configuration module. More...
DW_API_PUBLIC dwStatus	dwRigConfiguration_serializeToFile (const char *configurationFile, dwConstRigConfigurationHandle_t obj)
	This method serializes the rig-configuration object to a human-readable rig-configuration file. More...
DW_API_PUBLIC dwStatus	dwRigConfiguration_setSensorToRigTransformation (dwTransformation const *transformation, uint32_t sensorID, dwRigConfigurationHandle_t obj)
	Sets the sensor to rig transformation for a sensor. More...