DriveWorks SDK Reference
3.0.4260 Release
For Test and Development only

Data Structures | Typedefs | Functions
RadarDopplerMotion Interface
Egomotion Interface

Detailed Description

Provides estimation of the speed and heading of the radar observing doppler based radar measurements.

Note
SW Release Applicability: These APIs are available in both NVIDIA DriveWorks and NVIDIA DRIVE Software releases.

Data Structures

struct  dwRadarDopplerMotion
 Defines the radar motion. More...
 

Typedefs

typedef struct dwRadarDopplerMotionObject * dwRadarDopplerMotionHandle_t
 Handle to a radar-motion module object. More...
 

Functions

DW_API_PUBLIC dwStatus dwRadarDopplerMotion_getCUDAStream (cudaStream_t *stream, dwRadarDopplerMotionHandle_t obj)
 Gets CUDA stream used by the radar Doppler motion. More...
 
DW_API_PUBLIC dwStatus dwRadarDopplerMotion_getMotion (dwRadarDopplerMotion *motion, dwRadarDopplerMotionHandle_t obj)
 Gets the available radar motion estimation result. More...
 
DW_API_PUBLIC dwStatus dwRadarDopplerMotion_initialize (dwRadarDopplerMotionHandle_t *obj, cudaStream_t stream, dwContextHandle_t ctx)
 Creates and initializes a GPU-based radar motion estimation module. More...
 
DW_API_PUBLIC dwStatus dwRadarDopplerMotion_processAsync (const dwRadarScan *radarScan, dwRadarDopplerMotionHandle_t obj)
 Process the dwRadarScan and compute the radar motion. More...
 
DW_API_PUBLIC dwStatus dwRadarDopplerMotion_release (dwRadarDopplerMotionHandle_t obj)
 Releases the radar Doppler motion module. More...
 
DW_API_PUBLIC dwStatus dwRadarDopplerMotion_reset (dwRadarDopplerMotionHandle_t obj)
 Resets the radar Doppler motion module. More...
 
DW_API_PUBLIC dwStatus dwRadarDopplerMotion_setCUDAStream (cudaStream_t stream, dwRadarDopplerMotionHandle_t obj)
 Sets the CUDA stream for CUDA related operations. More...
 

Data Structure Documentation

◆ dwRadarDopplerMotion

struct dwRadarDopplerMotion
Data Fields
float32_t confidenceHeading Confidence for heading estimate.
float32_t confidenceSpeed Confidence for radial speed estimate (range: [0, 1))
dwMatrix2f covariance Estimation error covariance for (heading, radial speed)
float32_t heading Radar heading direction (the direction of radar sensor velocity) in sensor space (radian)
dwTime_t hostTimestamp_us Host timestamp of the computed radar motion (us)
dwRadarRange radarRange radar range type
float32_t speed Radar speed (the magnitude of radar sensor velocity) in sensor space (m/s)

Typedef Documentation

◆ dwRadarDopplerMotionHandle_t

typedef struct dwRadarDopplerMotionObject* dwRadarDopplerMotionHandle_t

Handle to a radar-motion module object.

Definition at line 87 of file DopplerMotionEstimator.h.

Function Documentation

◆ dwRadarDopplerMotion_getCUDAStream()

DW_API_PUBLIC dwStatus dwRadarDopplerMotion_getCUDAStream ( cudaStream_t *  stream,
dwRadarDopplerMotionHandle_t  obj 
)

Gets CUDA stream used by the radar Doppler motion.

Parameters
[out]streamThe CUDA stream currently used.
[in]objA handle to the lane detection module.
Returns
DW_INVALID_HANDLE - If the given object handle is invalid, null or of wrong type .
DW_INVALID_ARGUMENT - if given stream is invalid
DW_SUCCESS

◆ dwRadarDopplerMotion_getMotion()

DW_API_PUBLIC dwStatus dwRadarDopplerMotion_getMotion ( dwRadarDopplerMotion *  motion,
dwRadarDopplerMotionHandle_t  obj 
)

Gets the available radar motion estimation result.

Parameters
[out]motionA pointer to the last estimated motion.
[in]obj- RadarDopplerMotion handle.
Returns
DW_INVALID_HANDLE - If the given object handle is invalid, null or of wrong type .
DW_INVALID_ARGUMENT - if given bestPair is invalid
DW_NOT_AVAILABLE - if currently no solution is available, i.e. no call to dwRadarDopplerMotion_processAsync() was performed
DW_SUCCESS

◆ dwRadarDopplerMotion_initialize()

DW_API_PUBLIC dwStatus dwRadarDopplerMotion_initialize ( dwRadarDopplerMotionHandle_t *  obj,
cudaStream_t  stream,
dwContextHandle_t  ctx 
)

Creates and initializes a GPU-based radar motion estimation module.

Parameters
[out]obj- A pointer to the radar Doppler motion handle.
[in]stream- The CUDA stream to use for CUDA operations of the radar motion estimator.
[in]ctx- Specifies the handler to the context to create radar Doppler motion.
Returns
DW_BAD_CAST - If the provided context handle is invalid.
DW_INVALID_ARGUMENT - If the params of number of radars is invalid, or any pointers are null
DW_SUCCESS

◆ dwRadarDopplerMotion_processAsync()

DW_API_PUBLIC dwStatus dwRadarDopplerMotion_processAsync ( const dwRadarScan *  radarScan,
dwRadarDopplerMotionHandle_t  obj 
)

Process the dwRadarScan and compute the radar motion.

Parameters
[in]radarScan- dwRadarScan to compute motion for.
[in]obj- RadarDopplerMotion handle.
Returns
DW_INVALID_HANDLE - If the given object handle is invalid, null or of wrong type .
DW_INVALID_ARGUMENT - if given radarScan is invalid
DW_SUCCESS

◆ dwRadarDopplerMotion_release()

DW_API_PUBLIC dwStatus dwRadarDopplerMotion_release ( dwRadarDopplerMotionHandle_t  obj)

Releases the radar Doppler motion module.

Parameters
[in]objA handle to the doppler motion object.
Returns
DW_INVALID_HANDLE - If the given object handle is invalid , , null or of wrong type.
DW_SUCCESS

◆ dwRadarDopplerMotion_reset()

DW_API_PUBLIC dwStatus dwRadarDopplerMotion_reset ( dwRadarDopplerMotionHandle_t  obj)

Resets the radar Doppler motion module.

Parameters
[in]objA handle to the doppler motion object.
Returns
DW_INVALID_HANDLE - If the given object handle is invalid, null or of wrong type .
DW_SUCCESS

◆ dwRadarDopplerMotion_setCUDAStream()

DW_API_PUBLIC dwStatus dwRadarDopplerMotion_setCUDAStream ( cudaStream_t  stream,
dwRadarDopplerMotionHandle_t  obj 
)

Sets the CUDA stream for CUDA related operations.

Note
The ownership of the stream remains by the callee.
Parameters
[in]streamThe CUDA stream to be used. Default is the one passed during initialization.
[in]objA handle to the lane detector module for which to set CUDA stream.
Returns
DW_INVALID_HANDLE - If the given object handle is invalid, null or of wrong type .
DW_SUCCESS