Detailed Description

Defines rig configurations of the car.

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...

Modules
	Rig Configuration
	Defines vehicle rig configuration.

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...

Data Structure Documentation

◆ dwFThetaCameraConfig

struct dwFThetaCameraConfig

Data Fields
float32_t	backwardsPoly[DW_FTHETA_POLY_LENGTH]	Pixel2ray backward projection polynomial coefficients.
uint32_t	height	Width of the image (in pixels)
float32_t	u0	U coordinate for the principal point (in pixels)
float32_t	v0	V coordinate for the principal point (in pixels)
uint32_t	width	Width of the image (in pixels)

◆ dwOCamCameraConfig

struct dwOCamCameraConfig

Data Fields
float32_t	c	Affine matrix coefficient C.
float32_t	d	Affine matrix coefficient D.
float32_t	e	Affine matrix coefficient E.
uint32_t	height	Width of the image (in pixels)
float32_t	poly[DW_OCAM_POLY_LENGTH]	Pixel2ray polynomial coefficients.
float32_t	u0	U coordinate for the principal point (in pixels)
float32_t	v0	V coordinate for the principal point (in pixels)
uint32_t	width	Width of the image (in pixels)

◆ dwPinholeCameraConfig

struct dwPinholeCameraConfig

Data Fields
float32_t	distortion[DW_PINHOLE_DISTORTION_LENGTH]	Distortion polynomial coefficients [k_1, k_2, k_3]. x' = x * (1 + k_1 * r^2 + k_2 * r^4 + k_3 * r^6) y' = y * (1 + k_1 * r^2 + k_2 * r^4 + k_3 * r^6)
float32_t	focalX	Focal length in the X axis.
float32_t	focalY	Focal length in the Y axis.
uint32_t	height	Width of the image (in pixels)
float32_t	u0	U coordinate for the principal point (in pixels)
float32_t	v0	V coordinate for the principal point (in pixels)
uint32_t	width	Width of the image (in pixels)

◆ dwVehicle

struct dwVehicle

Data Fields
float32_t	axlebaseFront	Width of the front axle. [meters]
float32_t	axlebaseRear	Width of the rear axle. [meters]
float32_t	bumperFront	Distance axle to front bumper. [meters]
float32_t	bumperRear	Distance axle to rear bumper. [meters]
float32_t	centerOfMassToRearAxle	Distance between vehicle's CoM (center-of-mass) and center of the rear axle. [meters]
float32_t	frontCorneringStiffness	front wheel cornering stiffness.
float32_t	height	Height of the vehicle. [meters]>
float32_t	inertia	vehicle inertia w.r.t its CoM (center-of-mass). [kg/m^2]
float32_t	length	Height of the vehicle. [meters]
float32_t	mass	vehicle mass [kg].
float32_t	rearCorneringStiffness	rear wheel cornering stiffness.
float32_t	steeringCoefficient	Steering coefficient for trivial linear mapping between steering wheel and steering angle, i.e. `steeringAngle = steeringWheelAngle / steeringCoefficient`
float32_t	wheelbase	Distance between the centers of the front and rear wheels. [meters]
float32_t	wheelDiameter	Diameter of the wheels. [meters]
float32_t	width	Width of the vehicle. [meters]
float32_t	widthWithMirrors	Width of the vehicle including side mirrors. [meters]

Macro Definition Documentation

◆ DW_FTHETA_POLY_LENGTH

#define DW_FTHETA_POLY_LENGTH 5

Definition at line 177 of file RigConfiguration.h.

◆ DW_OCAM_POLY_LENGTH

#define DW_OCAM_POLY_LENGTH 5

Definition at line 146 of file RigConfiguration.h.

◆ DW_PINHOLE_DISTORTION_LENGTH

#define DW_PINHOLE_DISTORTION_LENGTH 3

Definition at line 115 of file RigConfiguration.h.

Typedef Documentation

◆ dwConstRigConfigurationHandle_t

typedef struct dwRigConfigurationObject const* dwConstRigConfigurationHandle_t

Definition at line 101 of file RigConfiguration.h.

◆ dwRigConfigurationHandle_t

typedef struct dwRigConfigurationObject* dwRigConfigurationHandle_t

Handle representing the Sensor Abstraction Layer interface.

Definition at line 100 of file RigConfiguration.h.

Enumeration Type Documentation

◆ dwCameraModel

enum dwCameraModel

Specifies the supported optical camera models.

The models define the mapping between optical rays and pixel coordinates, e.g., the intrinsic parameters of the camera.

Enumerator
DW_CAMERA_MODEL_OCAM
DW_CAMERA_MODEL_PINHOLE
DW_CAMERA_MODEL_FTHETA

Definition at line 109 of file RigConfiguration.h.

Function Documentation

◆ dwRigConfiguration_findSensorByName()

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.

Parameters

[out]	sensorID	The Specifies the index of the matching sensor. Undefined if the function fails.
[in]	sensorName	The name to search for. If the character '*' is found, only the characters before are compared for a match.
[in]	obj	Specifies the rig configuration module handle.

Returns: DW_INVALID_ARGUMENT - if given pointer is null
DW_NOT_AVAILABLE - if no sensor matches the name
DW_INVALID_HANDLE
DW_SUCCESS

◆ dwRigConfiguration_getCameraModel()

DW_API_PUBLIC dwStatus dwRigConfiguration_getCameraModel	(	dwCameraModel *	cameraModel,
		uint32_t	sensorID,
		dwConstRigConfigurationHandle_t	obj
	)

Gets the model type of the camera intrinsics.

The supported models are OCam and Pinhole.

Parameters

[out]	cameraModel	A pointer to the model type for the camera intrinsics.
[in]	sensorID	Specifies the index of the queried sensor.
[in]	obj	Specifies the rig configuration module handle.

Returns: DW_INVALID_ARGUMENT, DW_INVALID_HANDLE, DW_NOT_AVAILABLE, DW_SUCCESS

◆ dwRigConfiguration_getFThetaCameraConfig()

DW_API_PUBLIC dwStatus dwRigConfiguration_getFThetaCameraConfig	(	dwFThetaCameraConfig *	config,
		uint32_t	sensorID,
		dwConstRigConfigurationHandle_t	obj
	)

Gets the parameters of the FTheta camera model.

Note: This method clears the data passed in config in order to check if data was set.

Parameters

[out]	config	A pointer to the configuration of the camera intrinsics.
[in]	sensorID	Specifies the index of the queried sensor.
[in]	obj	Specifies the rig configuration module handle.

Returns: DW_INVALID_ARGUMENT, DW_INVALID_HANDLE, DW_NOT_AVAILABLE, DW_SUCCESS

◆ dwRigConfiguration_getOCamCameraConfig()

DW_API_PUBLIC dwStatus dwRigConfiguration_getOCamCameraConfig	(	dwOCamCameraConfig *	config,
		uint32_t	sensorID,
		dwConstRigConfigurationHandle_t	obj
	)

Gets the parameters of the OCam camera model.

Note: This method clears the data passed in config in order to check if data was set.

Parameters

[out]	config	A pointer to the configuration of the camera intrinsics.
[in]	sensorID	Specifies the index of the queried sensor.
[in]	obj	Specifies the rig configuration module handle.

Returns: DW_INVALID_ARGUMENT, DW_INVALID_HANDLE, DW_NOT_AVAILABLE, DW_SUCCESS

◆ dwRigConfiguration_getPinholeCameraConfig()

DW_API_PUBLIC dwStatus dwRigConfiguration_getPinholeCameraConfig	(	dwPinholeCameraConfig *	config,
		uint32_t	sensorID,
		dwConstRigConfigurationHandle_t	obj
	)

Gets the parameters of the pinhole camera model.

Parameters

[out]	config	A pointer to the configuration of the camera intrinsics.
[in]	sensorID	Specifies the index of the queried sensor.
[in]	obj	Specifies the rig configuration module handle.

Returns: DW_INVALID_ARGUMENT, DW_INVALID_HANDLE, DW_NOT_AVAILABLE, DW_SUCCESS

◆ dwRigConfiguration_getSensorCount()

DW_API_PUBLIC dwStatus dwRigConfiguration_getSensorCount	(	uint32_t *	sensorCount,
		dwConstRigConfigurationHandle_t	obj
	)

Gets the number of available sensors.

Parameters

[out]	sensorCount	A pointer to the number of sensors in the rig configuration.
[in]	obj	Specifies the Rig Configuration module handle.

Returns: DW_INVALID_ARGUMENT, DW_INVALID_HANDLE, DW_SUCCESS

◆ dwRigConfiguration_getSensorName()

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.

For example, "Front Camera".

Parameters

[out]	sensorName	A pointer to the pointer of the given name of the sensor. The pointer is valid until module reset or release is called.
[in]	sensorID	Specifies the index of the queried sensor.
[in]	obj	Specifies the rig configuration module handle.

Returns: DW_INVALID_ARGUMENT, DW_INVALID_HANDLE, DW_NOT_AVAILABLE, DW_SUCCESS

◆ dwRigConfiguration_getSensorParameter()

DW_API_PUBLIC dwStatus dwRigConfiguration_getSensorParameter	(	const char **	sensorParameter,
		uint32_t	sensorID,
		dwConstRigConfigurationHandle_t	obj
	)

Gets the parameter string for a sensor.

This string can be used in sensor creation.

Parameters

[out]	sensorParameter	A pointer to the pointer to the parameters of the sensor, for example camera driver and csi port. The returned pointer is valid until module reset or release is called.
[in]	sensorID	Specifies the index of the queried sensor.
[in]	obj	Specifies the Rig Configuration module handle.

Returns: DW_INVALID_ARGUMENT, DW_INVALID_HANDLE, DW_NOT_AVAILABLE, DW_SUCCESS

◆ dwRigConfiguration_getSensorProtocol()

DW_API_PUBLIC dwStatus dwRigConfiguration_getSensorProtocol	(	const char **	sensorProtocol,
		uint32_t	sensorID,
		dwConstRigConfigurationHandle_t	obj
	)

Gets the protocol string of a sensor.

This string can be used in sensor creation or to identify the type of a sensor.

Parameters

[out]	sensorProtocol	A pointer to the pointer to the protocol of the sensor, for example, camera.gmsl. The returned pointer is valid until module reset or release is called.
[in]	sensorID	Specifies the index of the queried sensor.
[in]	obj	Specifies the Rig Configuration module handle.

Returns: DW_INVALID_ARGUMENT, DW_INVALID_HANDLE, DW_NOT_AVAILABLE, DW_SUCCESS

◆ dwRigConfiguration_getSensorToRigTransformation()

DW_API_PUBLIC dwStatus dwRigConfiguration_getSensorToRigTransformation	(	dwTransformation *	transformation,
		uint32_t	sensorID,
		dwConstRigConfigurationHandle_t	obj
	)

Gets the sensor to rig transformation for a sensor.

This transformation relates the sensor and the rig coordinate system to each other. For example, the origin in sensor coordinate system is the position of the sensor in rig coordinates.

Parameters

[out]	transformation	A pointer to the transformation from sensor to rig coordinate system.
[in]	sensorID	Specifies the index of the queried sensor.
[in]	obj	Specifies the rig configuration module handle.

Returns: DW_INVALID_ARGUMENT, DW_INVALID_HANDLE, DW_NOT_AVAILABLE, DW_SUCCESS

◆ dwRigConfiguration_getSensorType()

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.

Parameters

[out]	sensorType	A pointer to return the type of sensor
[in]	sensorID	Specifies the index of the queried sensor.
[in]	obj	Specifies the rig configuration module handle.

Returns: DW_INVALID_ARGUMENT - if given pointer is null or sensorID doesn't exist
DW_INVALID_HANDLE
DW_SUCCESS

◆ dwRigConfiguration_getVehicle()

DW_API_PUBLIC dwStatus dwRigConfiguration_getVehicle	(	const dwVehicle **	vehicle,
		dwConstRigConfigurationHandle_t	obj
	)

Gets the properties of the vehicle.

Parameters

[out]	vehicle	A pointer to the struct holding vehicle properties. The returned pointer is valid until module reset or release is called.
[in]	obj	Specifies the Rig Configuration module handle.

Returns: DW_INVALID_ARGUMENT, DW_INVALID_HANDLE, DW_NOT_AVAILABLE, DW_SUCCESS

◆ dwRigConfiguration_initializeFromFile()

DW_API_PUBLIC dwStatus dwRigConfiguration_initializeFromFile	(	dwRigConfigurationHandle_t *	obj,
		dwContextHandle_t	ctx,
		const char *	configurationFile
	)

Initializes the Rig Configuration module.

Parameters

[out]	obj	A pointer to the Rig Configuration handle for the created module.
[in]	ctx	Specifies the handler to the context under which the Rigconfiguration module is created.
[in]	configurationFile	A pointer to the XML file that contains the rig configuration. Typically produced by the DriveWorks calibration tool.

Returns: DW_INVALID_ARGUMENT, DW_INVALID_HANDLE, DW_FILE_NOT_FOUND, DW_INTERNAL_ERROR, DW_SUCCESS

◆ dwRigConfiguration_release()

DW_API_PUBLIC dwStatus dwRigConfiguration_release ( dwRigConfigurationHandle_t * obj )

Releases the Rig Configuration module.

Parameters

[in] obj A pointer to the Rig Configuration module handle.

Returns: DW_INVALID_HANDLE, DW_SUCCESS

◆ dwRigConfiguration_reset()

DW_API_PUBLIC dwStatus dwRigConfiguration_reset ( dwRigConfigurationHandle_t obj )

Resets the Rig Configuration module.

Parameters

[in] obj Specifies the Rig Configuration module handle.

Returns: DW_INVALID_HANDLE, DW_SUCCESS

◆ dwRigConfiguration_serializeToFile()

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.

The output file contains the full state of the rig-configuration and can again be loaded with dwRigConfiguration_initializeFromFile().

The serialization format is selected based on the file name extension; currently supported extensions are json.

Parameters

[in]	configurationFile	The name of the file to serialize to. It's extension is used to select the serialization format. This method will overwrite the file if it exists.
[in]	obj	Specifies the rig configuration module handle.

Returns: DW_INVALID_ARGUMENT - if the configurationFile pointer is invalid, or if the serialization format is not supported
DW_INVALID_HANDLE - if provided RigConfigurationHandle handle is invalid.
DW_FILE_INVALID - in case of error during serialization.
DW_SUCCESS

◆ dwRigConfiguration_setSensorToRigTransformation()

DW_API_PUBLIC dwStatus dwRigConfiguration_setSensorToRigTransformation	(	dwTransformation const *	transformation,
		uint32_t	sensorID,
		dwRigConfigurationHandle_t	obj
	)

Sets the sensor to rig transformation for a sensor.

See also: dwRigConfiguration_getSensorToRigTransformation.

Parameters

[in]	transformation	A pointer to the transformation from sensor to rig coordinate system.
[in]	sensorID	Specifies the index of the updates sensor.
[in]	obj	Specifies the rig configuration module handle.

Returns: DW_INVALID_ARGUMENT, DW_INVALID_HANDLE, DW_NOT_AVAILABLE, DW_SUCCESS

DriveWorks SDK Reference

| 0.6.67 Release

Detailed Description

Data Structures

Modules

Macros

Typedefs

Enumerations

Functions

Data Structure Documentation

◆ dwFThetaCameraConfig

◆ dwOCamCameraConfig

◆ dwPinholeCameraConfig

◆ dwVehicle

Macro Definition Documentation

◆ DW_FTHETA_POLY_LENGTH

◆ DW_OCAM_POLY_LENGTH

◆ DW_PINHOLE_DISTORTION_LENGTH

Typedef Documentation

◆ dwConstRigConfigurationHandle_t

◆ dwRigConfigurationHandle_t

Enumeration Type Documentation

◆ dwCameraModel

Function Documentation

◆ dwRigConfiguration_findSensorByName()

◆ dwRigConfiguration_getCameraModel()

◆ dwRigConfiguration_getFThetaCameraConfig()

◆ dwRigConfiguration_getOCamCameraConfig()

◆ dwRigConfiguration_getPinholeCameraConfig()

◆ dwRigConfiguration_getSensorCount()

◆ dwRigConfiguration_getSensorName()

◆ dwRigConfiguration_getSensorParameter()

◆ dwRigConfiguration_getSensorProtocol()

◆ dwRigConfiguration_getSensorToRigTransformation()

◆ dwRigConfiguration_getSensorType()

◆ dwRigConfiguration_getVehicle()

◆ dwRigConfiguration_initializeFromFile()

◆ dwRigConfiguration_release()

◆ dwRigConfiguration_reset()

◆ dwRigConfiguration_serializeToFile()

◆ dwRigConfiguration_setSensorToRigTransformation()