Detailed Description

Defines Occupancy Grid mapping and fusion.

Data Structures
struct	dwObstacle
	Defines an obstacle. More...

struct	dwOccupancyGridLayerParameters
	Holds the initialization parameters for a range sensor layer in the occupancy grid. More...

struct	dwOccupancyGridParameters
	Holds the initialization parameters for the occupancy grid. More...

Typedefs
typedef struct dwOccupancyGridObject *	dwOccupancyGridHandle_t
	A pointer to the opaque handle for occupancy grid. More...

Functions
DW_API_PUBLIC dwStatus	dwOccupancyGrid_getGridImage (dwImageGL *output, dwOccupancyGridHandle_t grid)
	Renders the combined occupancy grid into the output FBO. More...

DW_API_PUBLIC dwStatus	dwOccupancyGrid_getGridLayerImage (dwImageGL *output, uint8_t layer, dwOccupancyGridHandle_t grid)
	Renders the occupancy grid into the output FBO. More...

DW_API_PUBLIC dwStatus	dwOccupancyGrid_getLayerProperties (dwOccupancyGridLayerParameters *output, uint8_t layer, dwOccupancyGridHandle_t grid)
	Gets the layer properties for a given layer. More...

DW_API_PUBLIC dwStatus	dwOccupancyGrid_initialize (dwOccupancyGridHandle_t grid, const dwOccupancyGridParameters params, dwContextHandle_t context)
	Initializes an occupancy grid. More...

DW_API_PUBLIC dwStatus	dwOccupancyGrid_insertObstacleList (const dwObstacle *inputList, uint32_t count, uint8_t layer, dwOccupancyGridHandle_t grid)
	Updates an occupancy grid with an obstacle list. More...

DW_API_PUBLIC dwStatus	dwOccupancyGrid_insertPointList (const dwVector4f *inputList, uint32_t count, uint8_t layer, dwOccupancyGridHandle_t grid)
	Updates an occupancy grid with raw input where each dwVector4f is treated as a hit point. More...

DW_API_PUBLIC dwStatus	dwOccupancyGrid_release (dwOccupancyGridHandle_t *grid)
	Releases the occupancy grid. More...

DW_API_PUBLIC dwStatus	dwOccupancyGrid_reset (dwOccupancyGridHandle_t grid)
	Clears the occupancy grid. More...

DW_API_PUBLIC dwStatus	dwOccupancyGrid_setLayerProperties (uint8_t layer, const dwOccupancyGridLayerParameters *input, dwOccupancyGridHandle_t grid)
	Sets the layer properties for a given layer. More...

DW_API_PUBLIC dwStatus	dwOccupancyGrid_update (const dwTransformation *matrix, uint8_t layer, dwOccupancyGridHandle_t grid)
	Transforms an occupancy grid. More...

Variables
const uint8_t	DW_OCCUPANCY_GRID_MAX_LAYER_COUNT = 16

Data Structure Documentation

◆ dwObstacle

struct dwObstacle

Data Fields
dwVector2f	acceleration	The 2-D acceleration of the polygon in the car coordinate system.
uint16_t	id	The object ID in the calling application.
uint32_t	pointCount	The number of points that define the polygon.
dwVector2f *	points	The position of the points (x,y) of the polygon in clockwise order.
dwVector2f	velocity	The 2-D velocity of the polygon in the car coordinate system.

◆ dwOccupancyGridLayerParameters

struct dwOccupancyGridLayerParameters

Data Fields
float32_t	hitWidth	Sets the hit width.
dwBool	isCumulative	Sets whether or not the layer is cumulative. If false, insert point cloud always resets previously inserted point clouds.
dwBool	isRaycast	Sets whether or not the layer is raycast. If true, free space will be calculated in between the sensor origin and the hit point using probabilityRay* values.
float32_t	maxAccumulatedProbability	The max threshold value per grid cell.
float32_t	maxValidDistanceMeters	The max valid distance, in meters, that this layer can register.
float32_t	minAccumulatedProbability	The min threshold value per grid cell.
float32_t	minValidDistanceMeters	The min valid distance, in meters, that this layer can register.
float32_t	probabilityFreeAtHit	The probability that a grid cell is free given a grid point hit.
float32_t	probabilityRayFreeAtMaxDistance	The probability that a grid cell is free at the max valid distance. This value is ignored if layer is non-raycast layer.
float32_t	probabilityRayFreeAtOrigin	The probability that a grid cell is free at the ray origin. This value is ignored if layer is non-raycast layer.
float32_t	probabilityRayFreeBeyondHit	The probability that a grid cell is free beyond the hit to the max distance. This value is ignored if layer is non-raycast layer.
float32_t	rayWidth	Sets the ray width. This value is ignored if layer is non-raycast layer.
dwTransformation	sensorToRigTransformation	The column-major orientation of the sensor for a given layer. This includes rotation and translation and is used to apply to points on insertPointCloud.

◆ dwOccupancyGridParameters

struct dwOccupancyGridParameters

Data Fields
float32_t	cellSizeMeters	The size of each grid cell in the occupancy grid, in meters.
dwVector3f	gridDimensionsMeters	The dimensions of the grid in length, width, and height.
dwVector3f	gridMinMeters	The minimum grid coordinates in length, width, and height.
dwBool	isScrollingMap	Sets whether or not to translate only. If true, the cumulative map does not rotate but inserts the new points.
dwVector4f	renderColor	The render color for rendering to an FBO.

Typedef Documentation

◆ dwOccupancyGridHandle_t

typedef struct dwOccupancyGridObject* dwOccupancyGridHandle_t

A pointer to the opaque handle for occupancy grid.

Definition at line 71 of file OccupancyGrid.h.

Function Documentation

◆ dwOccupancyGrid_getGridImage()

DW_API_PUBLIC dwStatus dwOccupancyGrid_getGridImage	(	dwImageGL *	output,
		dwOccupancyGridHandle_t	grid
	)

Renders the combined occupancy grid into the output FBO.

Parameters

[out]	output	Pointer to image.
[in]	grid	Opaque grid handle.

Returns: DW_INVALID_ARGUMENT DW_GL_ERROR DW_FAILURE DW_SUCCESS

◆ dwOccupancyGrid_getGridLayerImage()

DW_API_PUBLIC dwStatus dwOccupancyGrid_getGridLayerImage	(	dwImageGL *	output,
		uint8_t	layer,
		dwOccupancyGridHandle_t	grid
	)

Renders the occupancy grid into the output FBO.

Parameters

[out]	output	Pointer to image.
[in]	layer	Specifies the desired layer to render.
[in]	grid	Specifies the opaque grid handle.

Returns: DW_INVALID_ARGUMENT DW_GL_ERROR DW_FAILURE DW_SUCCESS

◆ dwOccupancyGrid_getLayerProperties()

DW_API_PUBLIC dwStatus dwOccupancyGrid_getLayerProperties	(	dwOccupancyGridLayerParameters *	output,
		uint8_t	layer,
		dwOccupancyGridHandle_t	grid
	)

Gets the layer properties for a given layer.

Gets the layer properites for a given layer.

Parameters

[out]	output	A pointer to the layer parameters.
[in]	layer	The index of the layer.
[in]	grid	An opaque grid handle.

Returns: DW_INVALID_ARGUMENT DW_GL_ERROR DW_FAILURE DW_SUCCESS

Parameters

[out]	output	The layer parameters.
[in]	layer	The index of the layer.
[in]	grid	An opaque grid handle.

Returns: DW_INVALID_ARGUMENT DW_GL_ERROR DW_FAILURE DW_SUCCESS

◆ dwOccupancyGrid_initialize()

DW_API_PUBLIC dwStatus dwOccupancyGrid_initialize	(	dwOccupancyGridHandle_t *	grid,
		const dwOccupancyGridParameters *	params,
		dwContextHandle_t	context
	)

Initializes an occupancy grid.

The grid must be initialized on a thread with a valid current OpenGL context.

Parameters

[out]	grid	A pointer to the opaque grid handle.
[in]	params	A pointer to the initialization parameters.
[in]	context	Specifies the opaque handle of a `dwContext`.

Returns: DW_INVALID_ARGUMENT DW_GL_ERROR DW_FAILURE DW_SUCCESS

◆ dwOccupancyGrid_insertObstacleList()

DW_API_PUBLIC dwStatus dwOccupancyGrid_insertObstacleList	(	const dwObstacle *	inputList,
		uint32_t	count,
		uint8_t	layer,
		dwOccupancyGridHandle_t	grid
	)

Updates an occupancy grid with an obstacle list.

Parameters

[in]	inputList	Handle to the list of dwObstacles.
[in]	count	Number in the input list.
[in]	layer	Layer to set this input.
[in]	grid	Opaque grid handle.

Returns: DW_INVALID_ARGUMENT DW_GL_ERROR DW_FAILURE DW_SUCCESS

◆ dwOccupancyGrid_insertPointList()

DW_API_PUBLIC dwStatus dwOccupancyGrid_insertPointList	(	const dwVector4f *	inputList,
		uint32_t	count,
		uint8_t	layer,
		dwOccupancyGridHandle_t	grid
	)

Updates an occupancy grid with raw input where each dwVector4f is treated as a hit point.

Parameters

[in]	inputList	Data for the point list, which must be laid out as [x,y,z,w] for each point.
[in]	count	Number of points in the VBO.
[in]	layer	Specifies the layer corresponding to the point cloud.
[in]	grid	Specifies the opaque grid handle.

Returns: DW_INVALID_ARGUMENT DW_GL_ERROR DW_FAILURE DW_SUCCESS

◆ dwOccupancyGrid_release()

DW_API_PUBLIC dwStatus dwOccupancyGrid_release ( dwOccupancyGridHandle_t * grid )

Releases the occupancy grid.

Parameters

[in] grid A pointer to the opaque grid handle.

Returns: DW_INVALID_ARGUMENT DW_FAILURE DW_SUCCESS

◆ dwOccupancyGrid_reset()

DW_API_PUBLIC dwStatus dwOccupancyGrid_reset ( dwOccupancyGridHandle_t grid )

Clears the occupancy grid.

Parameters

[in] grid Specifies the opaque grid handle.

Returns: DW_INVALID_ARGUMENT DW_GL_ERROR DW_FAILURE DW_SUCCESS

◆ dwOccupancyGrid_setLayerProperties()

DW_API_PUBLIC dwStatus dwOccupancyGrid_setLayerProperties	(	uint8_t	layer,
		const dwOccupancyGridLayerParameters *	input,
		dwOccupancyGridHandle_t	grid
	)

Sets the layer properties for a given layer.

Parameters

[in]	layer	The index of the layer.
[in]	input	A pointer to the layer parameters.
[in]	grid	An opaque grid handle.

Returns: DW_INVALID_ARGUMENT DW_GL_ERROR DW_FAILURE DW_SUCCESS

◆ dwOccupancyGrid_update()

DW_API_PUBLIC dwStatus dwOccupancyGrid_update	(	const dwTransformation *	matrix,
		uint8_t	layer,
		dwOccupancyGridHandle_t	grid
	)

Transforms an occupancy grid.

Parameters

	matrix	A column-major order transformation matrix.
[in]	layer	Specifies the layer corresponding to the point cloud.
	grid	Specifies the opaque grid handle.

Returns: DW_INVALID_ARGUMENT DW_GL_ERROR DW_FAILURE DW_SUCCESS

Variable Documentation

◆ DW_OCCUPANCY_GRID_MAX_LAYER_COUNT

const uint8_t DW_OCCUPANCY_GRID_MAX_LAYER_COUNT = 16

Definition at line 73 of file OccupancyGrid.h.

DriveWorks SDK Reference

| 0.6.67 Release

Detailed Description

Data Structures

Typedefs

Functions

Variables

Data Structure Documentation

◆ dwObstacle

◆ dwOccupancyGridLayerParameters

◆ dwOccupancyGridParameters

Typedef Documentation

◆ dwOccupancyGridHandle_t

Function Documentation

◆ dwOccupancyGrid_getGridImage()

◆ dwOccupancyGrid_getGridLayerImage()

◆ dwOccupancyGrid_getLayerProperties()

◆ dwOccupancyGrid_initialize()

◆ dwOccupancyGrid_insertObstacleList()

◆ dwOccupancyGrid_insertPointList()

◆ dwOccupancyGrid_release()

◆ dwOccupancyGrid_reset()

◆ dwOccupancyGrid_setLayerProperties()

◆ dwOccupancyGrid_update()

Variable Documentation

◆ DW_OCCUPANCY_GRID_MAX_LAYER_COUNT