NVIDIA DriveWorks API: Calibration
Description: This file defines the calibration layer.
Definition in file Engine.h.
Go to the source code of this file.
Macros | |
| #define | DW_CALIBRATION_MAXROUTINES 64 |
| This defines the number of anticipated concurrent calibrations. More... | |
Functions | |
| DW_API_PUBLIC dwStatus | dwCalibrationEngine_addFeatureDetections (uint32_t featureCapacity, uint32_t historyCapacity, const uint32_t *d_featureCount, const uint32_t *d_ages, const dwVector2f *d_locationHistory, uint32_t currentTimeIdx, dwTime_t timestamp, uint32_t sensorIndex, dwCalibrationEngineHandle_t engine) |
| Adds detected visual features to the calibration engine. More... | |
| DW_API_PUBLIC dwStatus | dwCalibrationEngine_addIMUFrame (const dwIMUFrame *imuFrame, uint32_t sensorIndex, dwCalibrationEngineHandle_t engine) |
| Adds an IMU frame from an IMU sensor to the calibration engine. More... | |
| DW_API_PUBLIC dwStatus | dwCalibrationEngine_addLidarPointCloud (const dwVector4f *lidarPoints, uint32_t pointCount, dwTime_t timestamp, uint32_t sensorIndex, dwCalibrationEngineHandle_t engine) |
| Adds a lidar sweep to the calibration engine. More... | |
| DW_API_PUBLIC dwStatus | dwCalibrationEngine_addLidarPose (const dwTransformation3f *deltaPoseLidarTimeAToTimeB, const dwTransformation3f *deltaPoseRigTimeAToTimeB, dwTime_t timestampA, dwTime_t timestampB, uint32_t sensorIndex, dwCalibrationEngineHandle_t engine) |
| Adds lidar delta-poses and ego-motion delta poses to the calibration engine. More... | |
| DW_API_PUBLIC dwStatus | dwCalibrationEngine_addMatches (const dwFeatureHistoryArray *matches, dwTime_t timestamp, uint32_t leftSensorIndex, uint32_t rightSensorIndex, dwCalibrationEngineHandle_t engine) |
| Adds detected visual feature matches to the calibration engine. More... | |
| DW_API_PUBLIC dwStatus | dwCalibrationEngine_addRadarDopplerMotion (const dwRadarDopplerMotion *radarMotion, uint32_t sensorIndex, dwCalibrationEngineHandle_t engine) |
| Adds Radar scan to the calibration engine. More... | |
| DW_API_PUBLIC dwStatus | dwCalibrationEngine_addVehicleIOState (const dwVehicleIOState *vioState, uint32_t sensorIndex, dwCalibrationEngineHandle_t engine) |
| Adds vehicle IO state to calibration engine. More... | |
| DW_API_PUBLIC dwStatus | dwCalibrationEngine_getCalibrationStatus (dwCalibrationStatus *status, dwCalibrationRoutineHandle_t routine, dwCalibrationEngineHandle_t engine) |
| Returns the current status of a calibration routine. More... | |
| DW_API_PUBLIC dwStatus | dwCalibrationEngine_getOdometrySpeedFactor (float32_t *odometrySpeedFactor, dwCalibrationRoutineHandle_t routine, dwCalibrationEngineHandle_t engine) |
| Returns odometry speed factor, mapping speed as reported by odometry to actual speed. More... | |
| DW_API_PUBLIC dwStatus | dwCalibrationEngine_getSensorToRigTransformation (dwTransformation3f *sensorToRig, dwCalibrationRoutineHandle_t routine, dwCalibrationEngineHandle_t engine) |
| Returns the current sensor to rig transformation of a calibration routine estimating this transformation. More... | |
| DW_API_PUBLIC dwStatus | dwCalibrationEngine_getSensorToSensorTransformation (dwTransformation3f *sensorToSensor, uint32_t indexA, uint32_t indexB, dwCalibrationRoutineHandle_t routine, dwCalibrationEngineHandle_t engine) |
| Returns the current sensor to sensor transformation of a calibration routine estimating this transformation. More... | |
| DW_API_PUBLIC dwStatus | dwCalibrationEngine_getSupportedSignals (dwCalibrationSignal *signals, dwCalibrationRoutineHandle_t routine, dwCalibrationEngineHandle_t engine) |
| Query a calibration routine for the calibration type and enabled calibration signal components. More... | |
| DW_API_PUBLIC dwStatus | dwCalibrationEngine_getVehicleSteeringProperties (dwVehicleSteeringProperties *steering, dwCalibrationRoutineHandle_t routine, dwCalibrationEngineHandle_t engine) |
| Get vehicle parameter calibration result. More... | |
| DW_API_PUBLIC dwStatus | dwCalibrationEngine_getVehicleWheelRadius (float32_t *radius, dwVehicleWheels wheel, dwCalibrationRoutineHandle_t routine, dwCalibrationEngineHandle_t engine) |
| Get currently estimated wheel radius of a vehicle. More... | |
| DW_API_PUBLIC dwStatus | dwCalibrationEngine_initialize (dwCalibrationEngineHandle_t *engine, dwRigHandle_t rig, dwContextHandle_t context) |
| Creates and initializes a Calibration Engine. More... | |
| DW_API_PUBLIC dwStatus | dwCalibrationEngine_initializeCamera (dwCalibrationRoutineHandle_t *routine, uint32_t sensorIndex, const dwCalibrationCameraParams *params, dwEgomotionConstHandle_t egomotion, cudaStream_t stream, dwCalibrationEngineHandle_t engine) |
| Initializes a camera calibration routine designated by the sensor provided to the method. More... | |
| DW_API_PUBLIC dwStatus | dwCalibrationEngine_initializeIMU (dwCalibrationRoutineHandle_t *routine, const uint32_t imuIndex, const uint32_t canIndex, const dwCalibrationIMUParams *params, dwCalibrationEngineHandle_t engine) |
| Initializes an IMU calibration routine designated by the sensor provided to the method. More... | |
| DW_API_PUBLIC dwStatus | dwCalibrationEngine_initializeLidar (dwCalibrationRoutineHandle_t *routine, uint32_t lidarIndex, uint32_t canIndex, const dwLidarProperties *lidarProperties, const dwCalibrationLidarParams *params, cudaStream_t stream, dwCalibrationEngineHandle_t engine) |
| Initializes a lidar calibration routine designated by the sensor provided to the method. More... | |
| DW_API_PUBLIC dwStatus | dwCalibrationEngine_initializeRadar (dwCalibrationRoutineHandle_t *routine, uint32_t sensorIndex, const dwCalibrationRadarParams *params, dwEgomotionConstHandle_t egomotion, dwCalibrationEngineHandle_t engine) |
| Initializes a radar calibration routine designated by the sensor provided to the method. More... | |
| DW_API_PUBLIC dwStatus | dwCalibrationEngine_initializeStereo (dwCalibrationRoutineHandle_t *routine, uint32_t leftSensorIndex, uint32_t rightSensorIndex, const dwCalibrationStereoParams *params, cudaStream_t stream, dwCalibrationEngineHandle_t engine) |
| This method initializes a stereo camera pose calibration routine relative to the sensor index of the left camera. More... | |
| DW_API_PUBLIC dwStatus | dwCalibrationEngine_initializeVehicle (dwCalibrationRoutineHandle_t *routine, uint32_t sensorIndex, const dwCalibrationVehicleParams *params, dwEgomotionConstHandle_t egoMotion, const dwVehicle *vehicle, dwCalibrationEngineHandle_t engine) |
| Initialize vehicle parameter calibration. 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 (dwCalibrationRoutineHandle_t routine, dwCalibrationEngineHandle_t engine) |
| Resets the calibration of a specific calibration routine associated with a calibration engine. More... | |
| DW_API_PUBLIC dwStatus | dwCalibrationEngine_startCalibration (dwCalibrationRoutineHandle_t routine, dwCalibrationEngineHandle_t engine) |
| Starts a calibration routine associated with a calibration engine. More... | |
| DW_API_PUBLIC dwStatus | dwCalibrationEngine_stopCalibration (dwCalibrationRoutineHandle_t routine, dwCalibrationEngineHandle_t engine) |
| Stops a calibration routine associated with a calibration engine. More... | |