Detailed Description

Defines the Calibration module for performing calibration of sensors.

Modules
	Calibration Types
	Fundamental types associated with Calibration.

	Camera Calibration
	Parameters for initializing a camera calibration.

Macros
#define	DW_CALIBRATION_MAXSENSORS 5
	This defines the number of sensors anticipated to be calibrated. More...

Typedefs
typedef struct dwCalibrationEngineObject *	dwCalibrationEngineHandle_t
	Handle to a calibration module object. More...

Functions
DW_API_PUBLIC dwStatus	dwCalibrationEngine_addLaneDetections (const dwLaneDetection *lanes, dwTime_t timestamp, uint32_t sensorIndex, dwCalibrationEngineHandle_t engine)

DW_API_PUBLIC dwStatus	dwCalibrationEngine_getCalibrationStatus (dwCalibrationStatus *status, uint32_t sensorIndex, dwCalibrationEngineHandle_t engine)
	Returns the current status of a calibration. More...

DW_API_PUBLIC dwStatus	dwCalibrationEngine_getNumberOfSensors (uint32_t *count, dwCalibrationEngineHandle_t engine)
	Gets the number of sensors which are being tracked for calibration. More...

DW_API_PUBLIC dwStatus	dwCalibrationEngine_getPercentageComplete (float32_t *percentage, uint32_t sensorIndex, dwCalibrationEngineHandle_t engine)
	Returns the current calibration percentage complete. More...

DW_API_PUBLIC dwStatus	dwCalibrationEngine_getSensorToRigTransformation (dwTransformation *sensorToRig, uint32_t sensorIndex, dwCalibrationEngineHandle_t engine)
	Returns the current transform. More...

DW_API_PUBLIC dwStatus	dwCalibrationEngine_initialize (dwCalibrationEngineHandle_t *engine, dwRigConfigurationHandle_t rigConfigHandle, dwContextHandle_t context)
	Creates and initializes a Calibration Engine module This method initializes the Calibration Engine. More...

DW_API_PUBLIC dwStatus	dwCalibrationEngine_initializeCamera (uint32_t sensorIndex, const dwCalibrationCameraParams *params, dwEgomotionHandle_t egoMotion, dwCalibrationEngineHandle_t engine)
	This method initializes a camera calibration routine designated by the sensor index sent into the method. More...

DW_API_PUBLIC dwStatus	dwCalibrationEngine_release (dwCalibrationEngineHandle_t *engine)
	Releases the Calibration Engine module. More...

DW_API_PUBLIC dwStatus	dwCalibrationEngine_reset (dwCalibrationEngineHandle_t engine)
	Resets the Calibration Engine module. More...

DW_API_PUBLIC dwStatus	dwCalibrationEngine_resetCalibration (uint32_t sensorIndex, dwCalibrationEngineHandle_t engine)
	Resets the calibration of a specific sensor designated by the index. More...

DW_API_PUBLIC dwStatus	dwCalibrationEngine_startCalibration (uint32_t sensorIndex, dwCalibrationEngineHandle_t engine)
	Starts a calibration routine on the sensor indicated in the calibration params. More...

DW_API_PUBLIC dwStatus	dwCalibrationEngine_stopCalibration (uint32_t sensorIndex, dwCalibrationEngineHandle_t engine)
	Stops the calibration of a specific sensor designated by the index. More...

Macro Definition Documentation

◆ DW_CALIBRATION_MAXSENSORS

#define DW_CALIBRATION_MAXSENSORS 5

This defines the number of sensors anticipated to be calibrated.

Definition at line 62 of file CalibrationEngine.h.

Typedef Documentation

◆ dwCalibrationEngineHandle_t

typedef struct dwCalibrationEngineObject* dwCalibrationEngineHandle_t

Handle to a calibration module object.

Definition at line 67 of file CalibrationEngine.h.

Function Documentation

◆ dwCalibrationEngine_addLaneDetections()

DW_API_PUBLIC dwStatus dwCalibrationEngine_addLaneDetections	(	const dwLaneDetection *	lanes,
		dwTime_t	timestamp,
		uint32_t	sensorIndex,
		dwCalibrationEngineHandle_t	engine
	)

Parameters

[in]	lanes	The lane detections that were calculated from the sensor
[in]	timestamp	The time stamp when the lane detections were created
[in]	sensorIndex	The index of the sensor that created the lane detections
[in]	engine	Specifies the calibration engine module we are checking against

Note: only routines that require the lane detection from this sensor as part of their calibration routine will process the lane detection

Returns: DW_INVALID_ARGUMENT - if the lanes pointer is invalid
DW_INVALID_HANDLE - if provided engine handle is invalid
DW_INTERNAL_ERROR - an internal error indicating unrecoverable error, in general this should not happen
DW_SUCCESS

◆ dwCalibrationEngine_getCalibrationStatus()

DW_API_PUBLIC dwStatus dwCalibrationEngine_getCalibrationStatus	(	dwCalibrationStatus *	status,
		uint32_t	sensorIndex,
		dwCalibrationEngineHandle_t	engine
	)

Returns the current status of a calibration.

Parameters

[out]	status	A pointer to the returned status
[in]	sensorIndex	Specifies the index of the sensor we are interested in
[in]	engine	Specifies the calibration engine module we are checking against

Returns: DW_INVALID_HANDLE - if provided engine handle is invalid
DW_INVALID_ARGUMENT - if provided status pointer is invalid or the calibration module is not currently calibrating this sensor
DW_SUCCESS

◆ dwCalibrationEngine_getNumberOfSensors()

DW_API_PUBLIC dwStatus dwCalibrationEngine_getNumberOfSensors	(	uint32_t *	count,
		dwCalibrationEngineHandle_t	engine
	)

Gets the number of sensors which are being tracked for calibration.

Parameters

[out]	count	A pointer to return number of routines current in progress.
[in]	engine	Specifies the calibration engine module we are checking against

Returns: DW_INVALID_HANDLE - if provided engine handle is invalid
DW_INVALID_ARGUMENT - if the provided count pointer is invalid
DW_SUCCESS

◆ dwCalibrationEngine_getPercentageComplete()

DW_API_PUBLIC dwStatus dwCalibrationEngine_getPercentageComplete	(	float32_t *	percentage,
		uint32_t	sensorIndex,
		dwCalibrationEngineHandle_t	engine
	)

Returns the current calibration percentage complete.

Parameters

[out]	percentage	A pointer to the returned percentage in the range [0,1]
[in]	sensorIndex	Specifies the index of the sensor we are interested in
[in]	engine	Specifies the calibration engine module we are checking against

Returns: DW_INVALID_HANDLE - if provided engine handle is invalid
DW_INVALID_ARGUMENT - if provided status pointer is invalid or the calibration module is not currently calibrating this sensor
DW_SUCCESS

◆ dwCalibrationEngine_getSensorToRigTransformation()

DW_API_PUBLIC dwStatus dwCalibrationEngine_getSensorToRigTransformation	(	dwTransformation *	sensorToRig,
		uint32_t	sensorIndex,
		dwCalibrationEngineHandle_t	engine
	)

Returns the current transform.

Parameters

[out]	sensorToRig	A pointer to the return transform. The transform represents the extrinsic transformation to go from the sensor to the rig
[in]	sensorIndex	Specifies the index of the sensor we are interested in
[in]	engine	Specifies the calibration engine module we are checking against

Returns: DW_INVALID_HANDLE - if provided engine handle is invalid
DW_INVALID_ARGUMENT - if provided transform pointer is invalid or the calibration module is not tracking this sensor
DW_SUCCESS

◆ dwCalibrationEngine_initialize()

DW_API_PUBLIC dwStatus dwCalibrationEngine_initialize	(	dwCalibrationEngineHandle_t *	engine,
		dwRigConfigurationHandle_t	rigConfigHandle,
		dwContextHandle_t	context
	)

Creates and initializes a Calibration Engine module This method initializes the Calibration Engine.

Parameters

[out]	engine	A pointer to the calibration engine handle will be returned here
[in]	rigConfigHandle	Specifies the rig configuration module that holds the sensor information
[in]	context	Specifies the handle to the context under which the Calibration module is created

Note: The rig configuration handle must remain valid until the calibration module has been released

Returns: DW_INVALID_ARGUMENT - if pointer to the engine handle is invalid
DW_INVALID_HANDLE - if provided context handle is invalid
DW_SUCCESS

◆ dwCalibrationEngine_initializeCamera()

DW_API_PUBLIC dwStatus dwCalibrationEngine_initializeCamera	(	uint32_t	sensorIndex,
		const dwCalibrationCameraParams *	params,
		dwEgomotionHandle_t	egoMotion,
		dwCalibrationEngineHandle_t	engine
	)

This method initializes a camera calibration routine designated by the sensor index sent into the method.

Parameters

[out]	sensorIndex	The index of the sensor we are creating a calibration for. This should be the same as the number in the rig configuration module
[in]	params	Specifies the parameters that are used to in calibrating the camera
[in]	egoMotion	Specifies the ego motion module that holds the motion of the vehicle
[in]	engine	A pointer to the the calibration engine handle that owns the sensor

Note: The ego motion object sent into this method should be based off IMU & Odometry and the handle must remain valid until the calibration module has been released

Returns: DW_INVALID_ARGUMENT - if the arguments in the parameters are invalid
DW_INVALID_HANDLE - if provided engine handle is invalid
DW_BUFFER_FULL - if the number of sensors need to be calibrated exceeds DW_CALIBRATION_MAXSENSORS value
DW_SUCCESS

◆ dwCalibrationEngine_release()

DW_API_PUBLIC dwStatus dwCalibrationEngine_release ( dwCalibrationEngineHandle_t * engine )

Releases the Calibration Engine module.

This method stops all calibrations that are in process

Note: This method renders the engine handle unusable

Parameters

[in] engine A pointer to the the calibration engine handle to be released

Returns: DW_INVALID_HANDLE - if provided engine handle is invalid
DW_SUCCESS

◆ dwCalibrationEngine_reset()

DW_API_PUBLIC dwStatus dwCalibrationEngine_reset ( dwCalibrationEngineHandle_t engine )

Resets the Calibration Engine module.

This method resets all calibrations that are being calculated by the module

Parameters

[in] engine Specifies the calibration engine handle to reset

Returns: DW_INVALID_HANDLE - if provided engine handle is invalid
DW_SUCCESS

◆ dwCalibrationEngine_resetCalibration()

DW_API_PUBLIC dwStatus dwCalibrationEngine_resetCalibration	(	uint32_t	sensorIndex,
		dwCalibrationEngineHandle_t	engine
	)

Resets the calibration of a specific sensor designated by the index.

Note: If you reset the calibration of a sensor it will revert to baseline calibration from the rig configuration vice any previous calibration data that might have been saved

Parameters

[in]	sensorIndex	Specifies the index of the sensor to reset calibrating
[in]	engine	Specifies the handle to the Calibration Engine module that is managing the calibration

Returns: DW_INVALID_ARGUMENT - if the sensor index is not being tracked by the module
DW_INVALID_HANDLE - if provided engine handle is invalid
DW_SUCCESS

◆ dwCalibrationEngine_startCalibration()

DW_API_PUBLIC dwStatus dwCalibrationEngine_startCalibration	(	uint32_t	sensorIndex,
		dwCalibrationEngineHandle_t	engine
	)

Starts a calibration routine on the sensor indicated in the calibration params.

Parameters

[in]	sensorIndex	Specifies the index of the sensor to start calibrating
[in]	engine	Specifies the handle to the Calibration Engine that will manage the calibration

Returns: DW_INVALID_ARGUMENT - if the arguments in the parameters are invalid
DW_INVALID_HANDLE - if provided engine handle is invalid
DW_SUCCESS

◆ dwCalibrationEngine_stopCalibration()

DW_API_PUBLIC dwStatus dwCalibrationEngine_stopCalibration	(	uint32_t	sensorIndex,
		dwCalibrationEngineHandle_t	engine
	)

Stops the calibration of a specific sensor designated by the index.

Parameters

[in]	sensorIndex	Specifies the index of the sensor to stop calibrating
[in]	engine	Specifies the handle to the Calibration Engine module that is managing the calibration

Returns: DW_INVALID_ARGUMENT - if the sensor index is not being tracked by the module
DW_INVALID_HANDLE - if provided engine handle is invalid
DW_SUCCESS

DriveWorks SDK Reference

| 0.6.67 Release

Detailed Description

Modules

Macros

Typedefs

Functions

Macro Definition Documentation

◆ DW_CALIBRATION_MAXSENSORS

Typedef Documentation

◆ dwCalibrationEngineHandle_t

Function Documentation

◆ dwCalibrationEngine_addLaneDetections()

◆ dwCalibrationEngine_getCalibrationStatus()

◆ dwCalibrationEngine_getNumberOfSensors()

◆ dwCalibrationEngine_getPercentageComplete()

◆ dwCalibrationEngine_getSensorToRigTransformation()

◆ dwCalibrationEngine_initialize()

◆ dwCalibrationEngine_initializeCamera()

◆ dwCalibrationEngine_release()

◆ dwCalibrationEngine_reset()

◆ dwCalibrationEngine_resetCalibration()

◆ dwCalibrationEngine_startCalibration()

◆ dwCalibrationEngine_stopCalibration()