DriveWorks SDK Reference
3.0.4260 Release
For Test and Development only

Rig.h File Reference

Detailed Description

NVIDIA DriveWorks API: Rig Configuration

Description: This file defines vehicle rig configuration methods.

Definition in file Rig.h.

Go to the source code of this file.

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  dwStereographicCameraConfig
 Configuration parameters for a calibrated FTheta camera. More...
 
struct  dwVehicle
 Properties of the vehicle. More...
 
struct  dwVehicleTorqueLUT
 Throttle and brake state (input) to longitudinal force (output) lookup tables. More...
 

Macros

#define DW_FTHETA_POLY_LENGTH   5U
 
#define DW_MAX_RIG_CAMERA_COUNT   255U
 Defines the maximum number of cameras in a rig. More...
 
#define DW_OCAM_POLY_LENGTH   5U
 
#define DW_PINHOLE_DISTORTION_LENGTH   3U
 
#define DW_VEHICLE_STEER_MAP_POLY_DEGREE   5U
 
#define DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE   15U
 

Typedefs

typedef struct dwRigObject const * dwConstRigHandle_t
 
typedef struct dwRigObject * dwRigHandle_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...
 
enum  dwVehicleWheels {
  DW_VEHICLE_WHEEL_FRONT_LEFT = 0,
  DW_VEHICLE_WHEEL_FRONT_RIGHT = 1,
  DW_VEHICLE_WHEEL_REAR_LEFT = 2,
  DW_VEHICLE_WHEEL_REAR_RIGHT = 3,
  DW_VEHICLE_NUM_WHEELS = 4
}
 Define index for each of the wheels on a 4 wheel vehicle. More...
 

Functions

DW_API_PUBLIC dwStatus dwRig_addOrSetPropertyByName (char8_t const *const propertyValue, char8_t const *const propertyName, dwRigHandle_t const obj)
 Overwrite content of an existing rig property. More...
 
DW_API_PUBLIC dwStatus dwRig_addOrSetSensorPropertyByName (char8_t const *const propertyValue, char8_t const *const propertyName, uint32_t const sensorId, dwRigHandle_t const obj)
 Overwrite content of an existing sensor property. More...
 
DW_API_PUBLIC dwStatus dwRig_findSensorByName (uint32_t *const sensorId, char8_t const *sensorName, dwConstRigHandle_t const obj)
 Finds the sensor with the given name and returns its index. More...
 
DW_API_PUBLIC dwStatus dwRig_findSensorByTypeIndex (uint32_t *const sensorId, dwSensorType const sensorType, uint32_t sensorTypeIndex, dwConstRigHandle_t const obj)
 Finds the absolute sensor index of the Nth sensor of a given type. More...
 
DW_API_PUBLIC dwStatus dwRig_findSensorIdFromVehicleIOId (uint32_t *const sensorId, uint32_t vehicleIOId, dwConstRigHandle_t const obj)
 Finds a sensor with the given vehicleIO ID and returns the index. More...
 
DW_API_PUBLIC dwStatus dwRig_getCameraModel (dwCameraModel *const cameraModel, uint32_t const sensorId, dwConstRigHandle_t const obj)
 Gets the model type of the camera intrinsics. More...
 
DW_API_PUBLIC dwStatus dwRig_getCameraTimestampPath (char8_t const **const timestampPath, uint32_t const sensorId, dwConstRigHandle_t const obj)
 Gets path to camera timestamp file. More...
 
DW_API_PUBLIC dwStatus dwRig_getFThetaCameraConfig (dwFThetaCameraConfig *const config, uint32_t const sensorId, dwConstRigHandle_t const obj)
 Gets the parameters of the FTheta camera model. More...
 
DW_API_PUBLIC dwStatus dwRig_getNominalSensorToRigTransformation (dwTransformation3f *const transformation, uint32_t const sensorId, dwConstRigHandle_t const obj)
 Gets the nominal sensor to rig transformation for a sensor. More...
 
DW_API_PUBLIC dwStatus dwRig_getNominalSensorToSensorTransformation (dwTransformation3f *const transformation, uint32_t const sensorIdFrom, uint32_t const sensorIdTo, dwConstRigHandle_t const obj)
 Gets the nominal sensor to sensor transformation for a pair of sensors. More...
 
DW_API_PUBLIC dwStatus dwRig_getOCamCameraConfig (dwOCamCameraConfig *config, uint32_t const sensorId, dwConstRigHandle_t const obj)
 Gets the parameters of the OCam camera model. More...
 
DW_API_PUBLIC dwStatus dwRig_getPinholeCameraConfig (dwPinholeCameraConfig *config, uint32_t const sensorId, dwConstRigHandle_t const obj)
 Gets the parameters of the Pinhole camera model. More...
 
DW_API_PUBLIC dwStatus dwRig_getPropertyByName (char8_t const **const propertyValue, char8_t const *const propertyName, dwConstRigHandle_t const obj)
 Returns property stored inside of rig. More...
 
DW_API_PUBLIC dwStatus dwRig_getSensorCount (uint32_t *const sensorCount, dwConstRigHandle_t const obj)
 Gets the number of all available sensors. More...
 
DW_API_PUBLIC dwStatus dwRig_getSensorCountOfType (uint32_t *const sensorCount, dwSensorType const sensorType, dwConstRigHandle_t const obj)
 Find number of sensors of a given type. More...
 
DW_API_PUBLIC dwStatus dwRig_getSensorDataPath (char8_t const **const dataPath, uint32_t const sensorId, dwConstRigHandle_t const obj)
 Gets path to sensor recording. More...
 
DW_API_PUBLIC dwStatus dwRig_getSensorFLUToRigTransformation (dwTransformation3f *const transformation, uint32_t const sensorId, dwConstRigHandle_t const obj)
 Gets the sensor FLU to rig transformation for a sensor. More...
 
DW_API_PUBLIC dwStatus dwRig_getSensorName (char8_t const **const sensorName, uint32_t const sensorId, dwConstRigHandle_t const obj)
 Gets the name of a sensor as given in the configuration. More...
 
DW_API_PUBLIC dwStatus dwRig_getSensorParameter (char8_t const **const sensorParameter, uint32_t const sensorId, dwConstRigHandle_t const obj)
 Gets the parameter string for a sensor. More...
 
DW_API_PUBLIC dwStatus dwRig_getSensorParameterUpdatedPath (char8_t const **const sensorParameter, uint32_t const sensorId, dwRigHandle_t const obj)
 Gets the parameter string for a sensor with any path described by file=,video=,timestamp= property modified to be in respect to the current rig file's directory (if initializing a rig from file), or in respect to the relativeBasePath (when initializing a rig from string). More...
 
DW_API_PUBLIC dwStatus dwRig_getSensorPropertyByName (char8_t const **const propertyValue, char8_t const *const propertyName, uint32_t const sensorId, dwConstRigHandle_t const obj)
 Returns property stored inside of a sensor. More...
 
DW_API_PUBLIC dwStatus dwRig_getSensorProtocol (char8_t const **const sensorProtocol, uint32_t const sensorId, dwConstRigHandle_t const obj)
 Gets the protocol string of a sensor. More...
 
DW_API_PUBLIC dwStatus dwRig_getSensorToRigTransformation (dwTransformation3f *const transformation, uint32_t const sensorId, dwConstRigHandle_t const obj)
 Gets the sensor to rig transformation for a sensor. More...
 
DW_API_PUBLIC dwStatus dwRig_getSensorToSensorTransformation (dwTransformation3f *const transformation, uint32_t const sensorIdFrom, uint32_t const sensorIdTo, dwConstRigHandle_t const obj)
 Gets the sensor to sensor transformation for a pair of sensors. More...
 
DW_API_PUBLIC dwStatus dwRig_getSensorType (dwSensorType *sensorType, uint32_t const sensorId, dwConstRigHandle_t const obj)
 Returns the type of sensor based upon the sensorID sent into the method. More...
 
DW_API_PUBLIC dwStatus dwRig_getVehicle (dwVehicle const **const vehicle, dwConstRigHandle_t const obj)
 Gets the properties of the vehicle. More...
 
DW_API_PUBLIC dwStatus dwRig_getVehicleIOConfigCount (uint32_t *vioConfigCount, dwConstRigHandle_t const obj)
 Gets the number of vehicle IO sensors. More...
 
DW_API_PUBLIC dwStatus dwRig_initializeFromFile (dwRigHandle_t *obj, dwContextHandle_t ctx, char8_t const *const configurationFile)
 Initializes the Rig Configuration module from a file. More...
 
DW_API_PUBLIC dwStatus dwRig_initializeFromString (dwRigHandle_t *obj, dwContextHandle_t ctx, char8_t const *const configurationString, char8_t const *const relativeBasePath)
 Initializes the Rig Configuration module from a string. More...
 
DW_API_PUBLIC dwStatus dwRig_release (dwRigHandle_t const obj)
 Releases the Rig Configuration module. More...
 
DW_API_PUBLIC dwStatus dwRig_reset (dwRigHandle_t const obj)
 Resets the Rig Configuration module. More...
 
DW_API_PUBLIC dwStatus dwRig_serializeToFile (char8_t const *configurationFile, dwConstRigHandle_t const obj)
 This method serializes the rig-configuration object to a human-readable rig-configuration file. More...
 
DW_API_PUBLIC dwStatus dwRig_setFThetaCameraConfig (dwFThetaCameraConfig const *config, uint32_t const sensorId, dwRigHandle_t const obj)
 Sets the parameters of the FTheta camera model. More...
 
DW_API_PUBLIC dwStatus dwRig_setOCamCameraConfig (dwOCamCameraConfig const *config, uint32_t const sensorId, dwRigHandle_t const obj)
 Sets the parameters of the OCam camera model. More...
 
DW_API_PUBLIC dwStatus dwRig_setPinholeCameraConfig (dwPinholeCameraConfig const *config, uint32_t const sensorId, dwRigHandle_t const obj)
 Sets the parameters of the pinhole camera model. More...
 
DW_API_PUBLIC dwStatus dwRig_setSensorParameter (char8_t const *const sensorParameter, uint32_t const sensorId, dwRigHandle_t const obj)
 Sets the parameter string for a sensor. More...
 
DW_API_PUBLIC dwStatus dwRig_setSensorToRigTransformation (dwTransformation3f const *transformation, uint32_t const sensorId, dwRigHandle_t const obj)
 Sets the sensor to rig transformation for a sensor. More...
 
DW_API_PUBLIC dwStatus dwRig_setVehicle (dwVehicle const *vehicle, dwRigHandle_t const obj)
 Sets the properties of the vehicle. More...