Detailed Description

Defines LidarAccumulator module for Lidar data processing and collection.

Data Structures
struct	dwLidarAccumulatorBuffer
	Definition of Lidar Accumulator buffer. More...

Typedefs
typedef struct dwLidarAccumulatorObject const *	dwConstLidarAccumulatorHandle_t

typedef struct dwLidarAccumulatorObject *	dwLidarAccumulatorHandle_t
	Handle to dwLidarAccumulator. More...

Enumerations
enum	dwLidarImageType { DW_LIDAR_IMAGE_TYPE_3D_DISTANCE_IMAGE, DW_LIDAR_IMAGE_TYPE_2D_DISTANCE_IMAGE, DW_LIDAR_IMAGE_TYPE_INTENSITY_IMAGE }
	Definition of the image type of Lidar cylindrical projection image. More...

Functions
DW_API_PUBLIC dwStatus	dwLidarAccumulator_addPacket (const dwLidarDecodedPacket *packet, dwLidarAccumulatorHandle_t obj)
	Adds a dwLidarDecodedPacket to Lidar Accumulator module, thread-safe. More...

DW_API_PUBLIC dwStatus	dwLidarAccumulator_createImage (dwImageCPU *lidarImage, dwLidarAccumulatorHandle_t obj)
	Creates Lidar Cylindrical Image. More...

DW_API_PUBLIC dwStatus	dwLidarAccumulator_destroyImage (dwImageCPU *lidarImage, dwLidarAccumulatorHandle_t obj)
	Destroys Lidar Cylindrical Image. More...

DW_API_PUBLIC dwStatus	dwLidarAccumulator_fillImage (dwImageCPU *lidarImage, dwLidarImageType type, dwLidarAccumulatorHandle_t obj)
	Fills image previously created with Lidar Cylindrical Image. More...

DW_API_PUBLIC dwStatus	dwLidarAccumulator_getSweep (dwLidarAccumulatorBuffer *sweep, dwLidarAccumulatorHandle_t obj)
	Gets sweeps/spins of Lidar Point Cloud. More...

DW_API_PUBLIC dwStatus	dwLidarAccumulator_initialize (dwLidarAccumulatorHandle_t obj, dwContextHandle_t context, uint32_t filterWinSize, const dwLidarProperties lidarProperties)
	Initializes Lidar Accumulator module. More...

DW_API_PUBLIC dwStatus	dwLidarAccumulator_release (dwLidarAccumulatorHandle_t *obj)
	Releases the Lidar Accumulator module. More...

DW_API_PUBLIC dwStatus	dwLidarAccumulator_reset (dwLidarAccumulatorHandle_t obj)
	Resets Lidar Accumulator module. More...

DW_API_PUBLIC dwStatus	dwLidarAccumulator_returnSweep (dwLidarAccumulatorHandle_t obj)
	Returns the sweep/image or both to the Lidar Accumulator. More...

DW_API_PUBLIC dwStatus	dwLidarAccumulator_setAngleSpan (float32_t minAngleDegree, float32_t maxAngleDegree, dwLidarAccumulatorHandle_t obj)
	Sets angle of interest for Lidar Accumulator to collect. More...

DW_API_PUBLIC dwStatus	dwLidarAccumulator_setDistanceSpan (float32_t minDistanceMeter, float32_t maxDistanceMeter, dwLidarAccumulatorHandle_t obj)
	Sets distance of interest for Lidar Accumulator to collect. More...

Data Structure Documentation

◆ dwLidarAccumulatorBuffer

struct dwLidarAccumulatorBuffer

Data Fields
const dwVector4f *	data	Organized Lidar points in Cartesian coordinate XYZI It includes both zero and non-zero points.
uint32_t	dataCount	Total number of points in data.
const dwTime_t *	hostTimestamps	Host timestamps.
const dwTime_t *	sensorTimestamps	Sensor timestamps.
uint32_t	validCount	Total number of non-zero points.

Typedef Documentation

◆ dwConstLidarAccumulatorHandle_t

typedef struct dwLidarAccumulatorObject const* dwConstLidarAccumulatorHandle_t

Definition at line 61 of file LidarAccumulator.h.

◆ dwLidarAccumulatorHandle_t

typedef struct dwLidarAccumulatorObject* dwLidarAccumulatorHandle_t

Handle to dwLidarAccumulator.

Definition at line 60 of file LidarAccumulator.h.

Enumeration Type Documentation

◆ dwLidarImageType

enum dwLidarImageType

Definition of the image type of Lidar cylindrical projection image.

Enumerator
DW_LIDAR_IMAGE_TYPE_3D_DISTANCE_IMAGE	each pixel is the 3D distance in XYZ space
DW_LIDAR_IMAGE_TYPE_2D_DISTANCE_IMAGE	each pixel is the 2D distance in XY Plane
DW_LIDAR_IMAGE_TYPE_INTENSITY_IMAGE	each pixel is the Lidar intensity

Definition at line 64 of file LidarAccumulator.h.

Function Documentation

◆ dwLidarAccumulator_addPacket()

DW_API_PUBLIC dwStatus dwLidarAccumulator_addPacket	(	const dwLidarDecodedPacket *	packet,
		dwLidarAccumulatorHandle_t	obj
	)

Adds a dwLidarDecodedPacket to Lidar Accumulator module, thread-safe.

Parameters

[in]	packet	Pointer to dwLidarDecodedPacket read by Lidar sensor
[in]	obj	Handle to the Lidar Accumulator module

Returns: DW_INVALID_HANDLE if given handle is invalid
DW_INTERNAL_ERROR the accumulated number of points in a full sweep goes beyond the expectation
DW_BUFFER_FULL internal sweep buffer is full, failed to add packet to the internal memory
DW_NOT_AVAILABLE the recycle pool is empty, failed to fetch buffer to write
DW_SUCCESS

Note: When Lidar sensor reaches the end of the recording, user can pass an empty dwLidarDecodedPacket (nullptr) to this function to flush all the packets in the last spin

◆ dwLidarAccumulator_createImage()

DW_API_PUBLIC dwStatus dwLidarAccumulator_createImage	(	dwImageCPU *	lidarImage,
		dwLidarAccumulatorHandle_t	obj
	)

Creates Lidar Cylindrical Image.

Parameters

[out]	lidarImage	Pointer to Lidar cylindrical image.
[in]	obj	Handle to the Lidar Accumulator module being initialized.

Returns: DW_INVALID_HANDLE if given handle is invalid
DW_SUCCESS

◆ dwLidarAccumulator_destroyImage()

DW_API_PUBLIC dwStatus dwLidarAccumulator_destroyImage	(	dwImageCPU *	lidarImage,
		dwLidarAccumulatorHandle_t	obj
	)

Destroys Lidar Cylindrical Image.

Parameters

[in]	lidarImage	Pointer to Lidar cylindrical image.
[in]	obj	Handle to the Lidar Accumulator module being initialized.

Returns: DW_INVALID_HANDLE if given handle is invalid
DW_SUCCESS

Note: User must use this function together with dwLidarAccumulator_createImages

◆ dwLidarAccumulator_fillImage()

DW_API_PUBLIC dwStatus dwLidarAccumulator_fillImage	(	dwImageCPU *	lidarImage,
		dwLidarImageType	type,
		dwLidarAccumulatorHandle_t	obj
	)

Fills image previously created with Lidar Cylindrical Image.

Parameters

[out]	lidarImage	Single channel Lidar cylindrical image
[in]	type	The semantic type for the Lidar cylindrical image
[in]	obj	Handle to the Lidar Accumulator module

Returns: DW_INVALID_HANDLE if given handle is invalid
DW_INVALID_ARGUMENT if given arguments are invalid
DW_NOT_READY requires more dwLidarDecodedPacket input to accumulate
DW_SUCCESS

Note: This function call should follow dwLidarAccumulator_getSweep. User should use the Lidar image allocated by dwLidarAccumulator_createImage.

◆ dwLidarAccumulator_getSweep()

DW_API_PUBLIC dwStatus dwLidarAccumulator_getSweep	(	dwLidarAccumulatorBuffer *	sweep,
		dwLidarAccumulatorHandle_t	obj
	)

Gets sweeps/spins of Lidar Point Cloud.

Parameters

[out]	sweep	Accumulated Lidar sweep buffer
[in]	obj	Handle to the Lidar Accumulator module

Returns: DW_INVALID_HANDLE if given handle is invalid
DW_INVALID_ARGUMENT if given arguments are invalid
DW_CALL_NOT_ALLOWED if there's a previous getSweep() called
but no corresponding returnSweep()
DW_END_OF_STREAM No more sweeps
DW_NOT_READY requires more dwLidarDecodedPacket input to accumulate
DW_SUCCESS

Note: dwLidarAccumulator_getSweep must be followed by dwLidarAccumulator_returnSweep if there is none

◆ dwLidarAccumulator_initialize()

DW_API_PUBLIC dwStatus dwLidarAccumulator_initialize	(	dwLidarAccumulatorHandle_t *	obj,
		dwContextHandle_t	context,
		uint32_t	filterWinSize,
		const dwLidarProperties *	lidarProperties
	)

Initializes Lidar Accumulator module.

Parameters

[out]	obj	Handle to the Lidar Accumulator module being initialized.
[in]	context	Handle to the current driveworks context.
[in]	filterWinSize	The horizontal smoothing filter window size
[in]	lidarProperties	Lidar properties

Returns: DW_INVALID_ARGUMENTS if given arguments are invalid
DW_INVALID_HANDLE if given handle is invalid
DW_SUCCESS

Note: The window size is expected to an even number ranges from 1 to 2, 4 and 8. It reduces the jittering of the Lidar beam firing in the horizontal direction. If user does not call this function, Lidar Accumulator will use the default value.

◆ dwLidarAccumulator_release()

DW_API_PUBLIC dwStatus dwLidarAccumulator_release ( dwLidarAccumulatorHandle_t * obj )

Releases the Lidar Accumulator module.

Parameters

[in] obj Handle to the Lidar Accumulator module being released.

Returns: DW_INVALID_HANDLE if given handle is invalid
DW_SUCCESS

◆ dwLidarAccumulator_reset()

DW_API_PUBLIC dwStatus dwLidarAccumulator_reset ( dwLidarAccumulatorHandle_t obj )

Resets Lidar Accumulator module.

Parameters

obj	Handle to the Lidar Accumulator module being reset.

Returns: DW_INVALID_HANDLE if given handle is invalid
DW_SUCCESS

◆ dwLidarAccumulator_returnSweep()

DW_API_PUBLIC dwStatus dwLidarAccumulator_returnSweep ( dwLidarAccumulatorHandle_t obj )

Returns the sweep/image or both to the Lidar Accumulator.

Parameters

[in] obj Handle to the Lidar Accumulator module

Returns: DW_INVALID_HANDLE if given handle is invalid
DW_BUFFER_FULL recycle pool full, failed to return data back DW_SUCCESS

◆ dwLidarAccumulator_setAngleSpan()

DW_API_PUBLIC dwStatus dwLidarAccumulator_setAngleSpan	(	float32_t	minAngleDegree,
		float32_t	maxAngleDegree,
		dwLidarAccumulatorHandle_t	obj
	)

Sets angle of interest for Lidar Accumulator to collect.

Parameters

[in]	minAngleDegree	The starting angle in degree for the Lidar Accumulator
[in]	maxAngleDegree	The ending angle in degree for the Lidar Accumulator
[in]	obj	Handle to the Lidar Accumulator module.

Returns: DW_INVALID_ARGUMENTS if given arguments are invalid
DW_SUCCESS

Note: If user does not call this function, Lidar Accumulator will collect a Lidar sweep covers 360 degrees

◆ dwLidarAccumulator_setDistanceSpan()

DW_API_PUBLIC dwStatus dwLidarAccumulator_setDistanceSpan	(	float32_t	minDistanceMeter,
		float32_t	maxDistanceMeter,
		dwLidarAccumulatorHandle_t	obj
	)

Sets distance of interest for Lidar Accumulator to collect.

Parameters

[in]	minDistanceMeter	The starting distance in meter for Lidar Accumulator
[in]	maxDistanceMeter	The ending distance in meter for Lidar Accumulator
[in]	obj	Handle to the Lidar Accumulator module.

Returns: DW_INVALID_ARGUMENTS if given arguments are invalid
DW_SUCCESS

Note: If user does not call this function, Lidar Accumulator will collect a Lidar sweep covers all the Euclidean distances

DriveWorks SDK Reference

| 0.6.67 Release

Detailed Description

Data Structures

Typedefs

Enumerations

Functions

Data Structure Documentation

◆ dwLidarAccumulatorBuffer

Typedef Documentation

◆ dwConstLidarAccumulatorHandle_t

◆ dwLidarAccumulatorHandle_t

Enumeration Type Documentation

◆ dwLidarImageType

Function Documentation

◆ dwLidarAccumulator_addPacket()

◆ dwLidarAccumulator_createImage()

◆ dwLidarAccumulator_destroyImage()

◆ dwLidarAccumulator_fillImage()

◆ dwLidarAccumulator_getSweep()

◆ dwLidarAccumulator_initialize()

◆ dwLidarAccumulator_release()

◆ dwLidarAccumulator_reset()

◆ dwLidarAccumulator_returnSweep()

◆ dwLidarAccumulator_setAngleSpan()

◆ dwLidarAccumulator_setDistanceSpan()