Detailed Description

Defines the Lidar sensor methods.

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...

Data Structure Documentation

◆ dwLidarDecodedPacket

struct dwLidarDecodedPacket

Data Fields
uint64_t	duration	Time difference between the first measurement and the last.
uint64_t	hostTimestamp	Timestamp measured on the host.
uint32_t	maxPoints	Maximum number of points in the packet.
uint32_t	nPoints	Current number of valid points in the packet.
const void *	points	Pointer to the array of points. To be casted to one of the point structures `dwLidarPointXYZI` or `dwLidarPointRTheta`, depending on the selected decoding format.
uint64_t	sensorTimestamp	Timestamp of the first point in the point cloud packet.
uint32_t	stride	Number of `float32` elements per point. Typically 4.

◆ dwLidarPointRTheta

struct dwLidarPointRTheta

Data Fields
float32_t	intensity	Reflection intensity in the 0 to 1 range.
float32_t	phi	Lidar right-handed polar coord system, vertical, in rads.
float32_t	radius	Lidar right-handed polar coord system, distance, in m.
float32_t	theta	Lidar right-handed polar coord system, planar, in rads.

◆ dwLidarPointXYZI

struct dwLidarPointXYZI

Data Fields
float32_t	intensity	Reflection intensity in the 0 to 1 range.
float32_t	x	Lidar right-handed coord system, planar, in meters.
float32_t	y	Lidar right-handed coord system, planar, in meters.
float32_t	z	Lidar right-handed coord system, vertical, in meters.

◆ dwLidarProperties

struct dwLidarProperties

Data Fields
char	deviceString[256]	ASCII string identifying the device.
uint32_t	packetsPerSecond	Number of packets per second the sensor produces.
uint32_t	packetsPerSpin	Number of packets per sensor full spin.
uint32_t	pointsPerPacket	Maximum number of points in a packet.
uint32_t	pointsPerSecond	Number of points per second the sensor provides.
uint32_t	pointsPerSpin	Maximum number of points on a full sensor spin.
uint32_t	pointStride	Number of `float32` elements per point.
float32_t	spinFrequency	Current spin frequency.

Enumeration Type Documentation

◆ dwLidarDecodeFormat

enum dwLidarDecodeFormat

Enumerator
DW_LIDAR_DECODE_FORMAT_XYZI	Cartesian coords in meters centered on the sensor.
DW_LIDAR_DECODE_FORMAT_RTHI	Polar coordinates in rad/meters centered on the sensor.

Definition at line 103 of file Lidar.h.

Function Documentation

◆ dwSensorLidar_disableDecoding()

DW_API_PUBLIC dwStatus dwSensorLidar_disableDecoding ( dwSensorHandle_t sensor )

Disable the decoding of the Lidar packets, which frees additional CPU load.

Method fails if the sensor has been started and is capturing data. Stop the sensor first. The default state is to have decoding on. If on, dwSensor_readRawData returns DW_CALL_NOT_ALLOWED.

Parameters

[in] sensor Specifies the sensor handle of the sensor previously created with dwSAL_createSensor().

Returns: DW_INVALID_HANDLE, DW_CALL_NOT_ALLOWED, DW_SUCCESS

◆ dwSensorLidar_enableDecoding()

DW_API_PUBLIC dwStatus dwSensorLidar_enableDecoding ( dwSensorHandle_t sensor )

Enables the decoding of the Lidar packets, which incurs an additional CPU load.

Method fails if the sensor has been started and is capturing data. Stop the sensor first. The default state is to have decoding on. If on, dwSensor_readRawData returns DW_CALL_NOT_ALLOWED.

Parameters

[in] sensor Specifies the sensor handle of the sensor previously created with dwSAL_createSensor().

Returns: DW_INVALID_HANDLE, DW_CALL_NOT_ALLOWED, DW_SUCCESS

◆ dwSensorLidar_getDecodingFormat()

DW_API_PUBLIC dwStatus dwSensorLidar_getDecodingFormat	(	dwLidarDecodeFormat *	format,
		dwSensorHandle_t	sensor
	)

Gets the selected decoding format of the point cloud.

The default decoding format is DW_LIDAR_DECODE_FORMAT_XYZI.

Parameters

[in]	format	A pointer to retrieve the specified packet decoding format.
[in]	sensor	Specifies the sensor handle of the sensor previously created with `dwSAL_createSensor()`.

Returns: DW_INVALID_HANDLE, DW_SUCCESS

◆ dwSensorLidar_getProperties()

DW_API_PUBLIC dwStatus dwSensorLidar_getProperties	(	dwLidarProperties *	lidarProperties,
		dwSensorHandle_t	sensor
	)

Gets information about the Lidar sensor.

Parameters

[out]	lidarProperties	A pointer to the struct containing the properties of the Lidar.
[in]	sensor	Specifies the sensor handle of the sensor previously created with `dwSAL_createSensor()`.

Returns: DW_INVALID_HANDLE, DW_INVALID_ARGUMENT, DW_SUCCESS

◆ dwSensorLidar_isDecodingEnabled()

DW_API_PUBLIC dwStatus dwSensorLidar_isDecodingEnabled	(	dwBool *	enable,
		dwSensorHandle_t	sensor
	)

Retrieves the state of packet decoding.

Parameters

[out]	enable	Contains the result of the query, which is true when decoding. False if RAW data.
[in]	sensor	Specifies the sensor handle of the sensor previously created with `dwSAL_createSensor()`.

Returns: DW_INVALID_HANDLE, DW_CALL_NOT_ALLOWED, DW_SUCCESS

◆ dwSensorLidar_processRawData()

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.

This happens on the CPU thread where the function is called, incurring on additional load on that thread. The data is valid until the application calls dwSensor_returnRawData.

Parameters

[out]	data	A pointer to the memory pool owned by the sensor.
[in]	rawData	A pointer for the non-decoded Lidar packet, returned by `dwSensor_readRawData()`.
[in]	size	Specifies the size in bytes of the raw data.
[in]	sensor	Specifies the sensor handle of the sensor previously created with `dwSAL_createSensor()`.

Returns: DW_INVALID_HANDLE, DW_INVALID_ARGUMENT, DW_NOT_AVAILABLE, DW_TIME_OUT, DW_SUCCESS

◆ dwSensorLidar_readPacket()

DW_API_PUBLIC dwStatus dwSensorLidar_readPacket	(	const dwLidarDecodedPacket **	data,
		dwTime_t	timeout_us,
		dwSensorHandle_t	sensor
	)

Reads one scan packet.

The pointer returned is to the internal data pool. DW guarantees that the data remains constant until returned by the application. The data must be explicitly returned by the application.

Parameters

[out]	data	A pointer to a pointer that can data read from the sensor. The struct contains the numbers of points read, which depends on the sensor used.
[in]	timeout_us	Specifies the timeout in microseconds. Special values: DW_TIMEOUT_INFINITE - to wait infinitly. Zero - means polling of internal queue.
[in]	sensor	Specifies the sensor handle of the sensor previously created with `dwSAL_createSensor()`.

Returns: DW_INVALID_HANDLE, DW_INVALID_ARGUMENT, DW_NOT_AVAILABLE, DW_TIME_OUT, DW_SUCCESS

◆ dwSensorLidar_returnPacket()

DW_API_PUBLIC dwStatus dwSensorLidar_returnPacket	(	const dwLidarDecodedPacket *	scan,
		dwSensorHandle_t	sensor
	)

Returns the data read to the internal pool.

At this point the pointer is still be valid, but data is change based on newer readings of the sensor.

Parameters

[in]	scan	A pointer to the scan data previously read from the Lidar to be returned to the pool.
[in]	sensor	Specifies the sensor handle of the sensor previously created with `dwSAL_createSensor()`.

Returns: DW_INVALID_HANDLE, DW_INVALID_ARGUMENT, DW_NOT_AVAILABLE, DW_TIME_OUT, DW_SUCCESS

◆ dwSensorLidar_setDecodingFormat()

DW_API_PUBLIC dwStatus dwSensorLidar_setDecodingFormat	(	dwLidarDecodeFormat	format,
		dwSensorHandle_t	sensor
	)

Sets decoding format of the point cloud.

Method fails if the sensor has been started and is capturing data. Stop the sensor first. The default decoding format is DW_LIDAR_DECODE_FORMAT_XYZI.

Parameters

[in]	sensor	Specifies the sensor handle of the sensor previously created with `dwSAL_createSensor()`.
[in]	format	Specifies the format for decoding the packets.

Returns: DW_INVALID_HANDLE, DW_CALL_NOT_ALLOWED, DW_SUCCESS

DriveWorks SDK Reference

| 0.6.67 Release

Detailed Description

Data Structures

Enumerations

Functions

Data Structure Documentation

◆ dwLidarDecodedPacket

◆ dwLidarPointRTheta

◆ dwLidarPointXYZI

◆ dwLidarProperties

Enumeration Type Documentation

◆ dwLidarDecodeFormat

Function Documentation

◆ dwSensorLidar_disableDecoding()

◆ dwSensorLidar_enableDecoding()

◆ dwSensorLidar_getDecodingFormat()

◆ dwSensorLidar_getProperties()

◆ dwSensorLidar_isDecodingEnabled()

◆ dwSensorLidar_processRawData()

◆ dwSensorLidar_readPacket()

◆ dwSensorLidar_returnPacket()

◆ dwSensorLidar_setDecodingFormat()