icp.h File Reference

Detailed Description

NVIDIA DriveWorks API: ICP Methods

Description: This file defines the functions required to perform ICP on point clouds.

Definition in file icp.h.

Go to the source code of this file.

Data Structures
struct	dwICPIterationParams
	Paramter for running ICP between two frames. More...
struct	dwICPParams
	Parameters that control the initialization for ICP module. More...
struct	dwICPResultStats
	Some result stats about the most recent ICP run. More...

Typedefs
typedef dwBool(*	dwICPConvergenceCheck) (const dwTransformation *prevSrc2Tgt, const dwTransformation *newSrc2Tgt, void *userData)
	Callback function to be executed by ICP module allowing user to overwrite default convergence criteria method. More...
typedef struct dwICPHandle *	dwICPHandle_t

Enumerations
enum	dwICPType { DW_ICP_TYPE_LIDAR_POINT_CLOUD }

Functions
DW_API_PUBLIC dwStatus	dwICP_getCUDAStream (cudaStream_t *stream, dwICPHandle_t icpObj)
	Fetches the ICP module's cuda in a pointer. More...
DW_API_PUBLIC dwStatus	dwICP_getLastResultStats (dwICPResultStats *resultStats, dwICPHandle_t icpObj)
	Get stats about latest ICP run. More...
DW_API_PUBLIC dwStatus	dwICP_initialize (dwICPHandle_t *icpObj, const dwICPParams *params, dwContextHandle_t ctx)
	Initializes the ICP module. More...
DW_API_PUBLIC dwStatus	dwICP_optimize (dwTransformation *outSrc2Tgt, const dwICPIterationParams *iParams, dwICPHandle_t icpObj)
	Perform ICP between 2 pointclouds. More...
DW_API_PUBLIC dwStatus	dwICP_release (dwICPHandle_t *icpObj)
	Releases an ICP module. More...
DW_API_PUBLIC dwStatus	dwICP_reset (dwICPHandle_t icpObj)
	Resets the ICP module, clears any data or containers to just-initialized state. More...
DW_API_PUBLIC dwStatus	dwICP_setConvergenceCriteriaCallback (dwICPConvergenceCheck callback, void *userData, dwICPHandle_t icpObj)
	Set callback to be executed to test convergence. More...
DW_API_PUBLIC dwStatus	dwICP_setConvergenceTolerance (float32_t angleTol, float32_t distanceTol, dwICPHandle_t icpObj)
	Set tolerances used by the default ICP convergence criteria method. More...
DW_API_PUBLIC dwStatus	dwICP_setCUDAStream (cudaStream_t stream, dwICPHandle_t icpObj)
	Resets the ICP module's cuda stream to new stream. More...
DW_API_PUBLIC dwStatus	dwICP_setMaxIterations (uint16_t maxIterations, dwICPHandle_t icpObj)
	Set maximum number of iterations which need to be executed. More...