DriveWorks SDK Reference
3.0.4260 Release
For Test and Development only

Engine.h
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30 
48 #ifndef DW_CALIBRATION_ENGINE_CALIBRATIONENGINE_H_
49 #define DW_CALIBRATION_ENGINE_CALIBRATIONENGINE_H_
50 
51 #include <dw/core/Context.h>
52 #include <dw/rig/Rig.h>
53 #include <dw/egomotion/Egomotion.h>
56 
57 #include "CalibrationTypes.h"
64 
65 #ifdef __cplusplus
66 extern "C" {
67 #endif
68 
72 #define DW_CALIBRATION_MAXROUTINES 64
73 
89  dwRigHandle_t rig,
90  dwContextHandle_t context);
91 
121  uint32_t sensorIndex,
122  const dwCalibrationCameraParams* params,
123  dwEgomotionConstHandle_t egomotion,
124  cudaStream_t stream,
126 
153  const uint32_t imuIndex,
154  const uint32_t canIndex,
155  const dwCalibrationIMUParams* params,
157 
178  uint32_t lidarIndex,
179  uint32_t canIndex,
180  const dwLidarProperties* lidarProperties,
181  const dwCalibrationLidarParams* params,
182  cudaStream_t stream,
184 
209  uint32_t sensorIndex,
210  const dwCalibrationRadarParams* params,
211  dwEgomotionConstHandle_t egomotion,
213 
237  uint32_t leftSensorIndex,
238  uint32_t rightSensorIndex,
239  const dwCalibrationStereoParams* params,
240  cudaStream_t stream,
242 
264  uint32_t sensorIndex,
265  const dwCalibrationVehicleParams* params,
266  dwEgomotionConstHandle_t egoMotion,
267  const dwVehicle* vehicle,
269 
283 
299 
313 
326 
341 
357 
373 
392 
412  uint32_t indexA, uint32_t indexB,
415 
444 
468 
486 
507 dwStatus dwCalibrationEngine_addFeatureDetections(uint32_t featureCapacity,
508  uint32_t historyCapacity,
509  const uint32_t* d_featureCount,
510  const uint32_t* d_ages,
511  const dwVector2f* d_locationHistory,
512  uint32_t currentTimeIdx,
513  dwTime_t timestamp,
514  uint32_t sensorIndex,
516 
538  uint32_t sensorIndex,
540 
558  uint32_t pointCount,
559  dwTime_t timestamp,
560  uint32_t sensorIndex,
562 
582 dwStatus dwCalibrationEngine_addLidarPose(const dwTransformation3f* deltaPoseLidarTimeAToTimeB,
583  const dwTransformation3f* deltaPoseRigTimeAToTimeB,
584  dwTime_t timestampA,
585  dwTime_t timestampB,
586  uint32_t sensorIndex,
588 
604  uint32_t sensorIndex,
606 
624  dwTime_t timestamp,
625  uint32_t leftSensorIndex,
626  uint32_t rightSensorIndex,
628 
643  uint32_t sensorIndex,
645 
646 #ifdef __cplusplus
647 }
648 #endif
649 
651 #endif // DW_CALIBRATION_ENGINE_CALIBRATIONENGINE_H_
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.
Holds pointers to the data exposed by a feature2d list.
Definition: FeatureList.h:120
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.
DW_API_PUBLIC dwStatus dwCalibrationEngine_initialize(dwCalibrationEngineHandle_t *engine, dwRigHandle_t rig, dwContextHandle_t context)
Creates and initializes a Calibration Engine.
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.
NVIDIA DriveWorks API: Calibration
Calibration parameters for calibrating a radar sensor this should be added to the dwCalibrationParams...
Definition: RadarParams.h:54
float float32_t
Specifies POD types.
Definition: Types.h:70
NVIDIA DriveWorks API: Rig Configuration
DW_API_PUBLIC dwStatus dwCalibrationEngine_addRadarDopplerMotion(const dwRadarDopplerMotion *radarMotion, uint32_t sensorIndex, dwCalibrationEngineHandle_t engine)
Adds Radar scan to the calibration engine.
NVIDIA DriveWorks API: Egomotion Methods
The state data.
Definition: VehicleIO.h:288
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 transfor...
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...
NVIDIA DriveWorks API: Calibration
Defines a four-element single-precision floating point vector.
Definition: Types.h:335
Defines a two-element single-precision floating-point vector.
Definition: Types.h:291
NVIDIA DriveWorks API: Calibration
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.
DW_API_PUBLIC dwStatus dwCalibrationEngine_getVehicleSteeringProperties(dwVehicleSteeringProperties *steering, dwCalibrationRoutineHandle_t routine, dwCalibrationEngineHandle_t engine)
Get vehicle parameter calibration result.
DW_API_PUBLIC dwStatus dwCalibrationEngine_addVehicleIOState(const dwVehicleIOState *vioState, uint32_t sensorIndex, dwCalibrationEngineHandle_t engine)
Adds vehicle IO state to calibration engine.
DW_API_PUBLIC dwStatus dwCalibrationEngine_getCalibrationStatus(dwCalibrationStatus *status, dwCalibrationRoutineHandle_t routine, dwCalibrationEngineHandle_t engine)
Returns the current status of a calibration routine.
Vehicle steering calibration-related parameters.
Definition: VehicleParams.h:53
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.
DW_API_PUBLIC dwStatus dwCalibrationEngine_startCalibration(dwCalibrationRoutineHandle_t routine, dwCalibrationEngineHandle_t engine)
Starts a calibration routine associated with a calibration engine.
NVIDIA DriveWorks API: Core Methods
struct dwCalibrationRoutineObject * dwCalibrationRoutineHandle_t
Handles to calibration module objects.
NVIDIA DriveWorks API: Calibration
Calibration parameters for calibrating a camera sensor.
Definition: CameraParams.h:87
Calibration parameters for calibrating a stereo sensor.
Definition: StereoParams.h:55
Specifies a 3D rigid transformation.
Definition: Types.h:462
NVIDIA DriveWorks API: Calibration
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.
dwStatus
Status definition.
Definition: Status.h:166
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.
int64_t dwTime_t
Specifies a timestamp unit, in microseconds.
Definition: Types.h:82
struct dwCalibrationEngineObject * dwCalibrationEngineHandle_t
Calibration parameters for calibrating a lidar sensor this should be added to the dwCalibrationParams...
Definition: LidarParams.h:55
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...
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.
An IMU frame containing sensor readings from the IMU sensor.
Definition: IMU.h:104
struct dwEgomotionObject const * dwEgomotionConstHandle_t
Definition: Egomotion.h:80
DW_API_PUBLIC dwStatus dwCalibrationEngine_reset(dwCalibrationEngineHandle_t engine)
Resets the Calibration Engine module.
DW_API_PUBLIC dwStatus dwCalibrationEngine_release(dwCalibrationEngineHandle_t engine)
Releases the Calibration Engine module.
Defines the current status of an individual calibration.
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.
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.
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 ...
dwVehicleWheels
Define index for each of the wheels on a 4 wheel vehicle.
Definition: Rig.h:312
struct dwContextObject * dwContextHandle_t
Context handle.
Definition: Context.h:80
NVIDIA DriveWorks API: Calibration
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...
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 transformat...
NVIDIA DriveWorks API: Radar Doppler Motion
Defines the radar motion.
dwCalibrationSignal
Defines signal types supported by a calibration routine.
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.
NVIDIA DriveWorks API: Feature Array and Feature History Array
#define DW_API_PUBLIC
Definition: Exports.h:56
Calibration parameters for calibrating a IMU sensor this should be added to the dwCalibrationParams p...
Definition: IMUParams.h:54
DW_API_PUBLIC dwStatus dwCalibrationEngine_stopCalibration(dwCalibrationRoutineHandle_t routine, dwCalibrationEngineHandle_t engine)
Stops a calibration routine associated with a calibration engine.
NVIDIA DriveWorks API: Calibration
Steering parameter calibration.
Definition: VehicleParams.h:66
struct dwRigObject * dwRigHandle_t
Handle representing the Sensor Abstraction Layer interface.
Definition: Rig.h:179
Properties of the vehicle.
Definition: Rig.h:348