Defines module to register/stitch multiple sets of point clouds.
- Note
- SW Release Applicability: These APIs are available in both NVIDIA DriveWorks and NVIDIA DRIVE Software releases.
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DW_API_PUBLIC dwStatus | dwPointCloudStitcher_bindInput (dwBindSlot slot, const dwPointCloud *pointCloud, const dwTransformation3f *transform, dwPointCloudStitcherHandle_t obj) |
| Binds input point cloud to the point cloud stitcher. More...
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DW_API_PUBLIC dwStatus | dwPointCloudStitcher_bindOutput (dwPointCloud *points, dwPointCloudStitcherHandle_t obj) |
| Binds output buffer to the point cloud stitcher. More...
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DW_API_PUBLIC dwStatus | dwPointCloudStitcher_disableMotionCompensation (dwPointCloudStitcherHandle_t obj) |
| Disables motion compensation for the stitched point cloud. More...
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DW_API_PUBLIC dwStatus | dwPointCloudStitcher_enableMotionCompensation (dwTime_t timestamp, dwEgomotionConstHandle_t egomotion, dwPointCloudStitcherHandle_t obj) |
| Enables motion compensation for the stitched point cloud. More...
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DW_API_PUBLIC dwStatus | dwPointCloudStitcher_getCUDAStream (cudaStream_t *stream, dwPointCloudStitcherHandle_t obj) |
| Gets CUDA stream of point cloud stitcher. More...
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DW_API_PUBLIC dwStatus | dwPointCloudStitcher_initialize (dwPointCloudStitcherHandle_t *obj, dwContextHandle_t ctx) |
| Initializes point cloud stitcher. More...
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DW_API_PUBLIC dwStatus | dwPointCloudStitcher_process (dwPointCloudStitcherHandle_t obj) |
| Transforms all the input point clouds to a common coordinate. More...
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DW_API_PUBLIC dwStatus | dwPointCloudStitcher_release (dwPointCloudStitcherHandle_t obj) |
| Releases point cloud stitcher. More...
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DW_API_PUBLIC dwStatus | dwPointCloudStitcher_reset (dwPointCloudStitcherHandle_t obj) |
| Resets point cloud stitcher. More...
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DW_API_PUBLIC dwStatus | dwPointCloudStitcher_setCUDAStream (const cudaStream_t stream, dwPointCloudStitcherHandle_t obj) |
| Sets CUDA stream of point cloud stitcher. More...
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DW_API_PUBLIC dwStatus | dwPointCloudStitcher_setGlobalTransformation (const dwTransformation3f *tx, dwPointCloudStitcherHandle_t obj) |
| Sets global transformation for the stitched point cloud. More...
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◆ DW_POINTCLOUD_STITCHER_MAX_POINT_CLOUDS
This defines the maximum number of point clouds anticipated to be stitched.
Definition at line 64 of file PointCloudStitcher.h.
◆ dwPointCloudStitcherHandle_t
◆ dwPointCloudStitcher_bindInput()
Binds input point cloud to the point cloud stitcher.
- Parameters
-
[in] | slot | destination slot |
[in] | pointCloud | Pointer to the input point cloud |
[in] | transform | Pointer to point cloud transformation |
[in] | obj | Handle to the point cloud stitcher |
- Returns
- DW_SUCCESS
DW_INVALID_HANDLE - provided handle to point clou stitcher is null
DW_OUT_OF_BOUNDS - slot index is out of bounds
◆ dwPointCloudStitcher_bindOutput()
Binds output buffer to the point cloud stitcher.
- Parameters
-
[out] | points | Pointer to output buffer which stores the stitched/motion compensated point cloud |
[in] | obj | Handle to the point cloud stitcher |
- Returns
- DW_SUCCESS
DW_INVALID_ARGUMENT
◆ dwPointCloudStitcher_disableMotionCompensation()
Disables motion compensation for the stitched point cloud.
- Parameters
-
[in] | obj | Handle to point cloud stitcher |
- Returns
- DW_SUCCESS
DW_INVALID_ARGUMENT
◆ dwPointCloudStitcher_enableMotionCompensation()
Enables motion compensation for the stitched point cloud.
- Parameters
-
[in] | timestamp | The reference timestamp to align the point clouds with |
[in] | egomotion | Handle to egomotion |
[in] | obj | Handle to point cloud stitcher |
- Returns
- DW_SUCCESS
DW_INVALID_ARGUMENT - if provided egomotion or stitcher handle is null
◆ dwPointCloudStitcher_getCUDAStream()
Gets CUDA stream of point cloud stitcher.
- Parameters
-
[out] | stream | Pointer to CUDA stream handle |
[in] | obj | Handle to point cloud stitcher |
- Returns
- DW_SUCCESS
DW_INVALID_ARGUMENT
◆ dwPointCloudStitcher_initialize()
Initializes point cloud stitcher.
- Parameters
-
[out] | obj | Pointer to point cloud stitcher handle |
[in] | ctx | Handle to the context |
- Returns
- DW_SUCCESS
DW_INVALID_ARGUMENT
◆ dwPointCloudStitcher_process()
Transforms all the input point clouds to a common coordinate.
- Parameters
-
[in] | obj | Handle to the point cloud sitcher |
- Returns
- DW_SUCCESS
DW_INVALID_ARGUMENT - the memory type of input/output does not match
DW_CALL_NOT_ALLOWED - input list is not bound
DW_OUT_OF_BOUNDS - the number of input points exceeds the output buffer capacity
◆ dwPointCloudStitcher_release()
Releases point cloud stitcher.
- Parameters
-
[in] | obj | Handle to point cloud stitcher |
- Returns
- DW_SUCCESS
DW_INVALID_ARGUMENT
◆ dwPointCloudStitcher_reset()
Resets point cloud stitcher.
- Parameters
-
[in] | obj | Handle to point cloud stitcher |
- Returns
- DW_SUCCESS
DW_INVALID_ARGUMENT
◆ dwPointCloudStitcher_setCUDAStream()
Sets CUDA stream of point cloud stitcher.
- Parameters
-
[in] | stream | Handle to CUDA stream |
[in] | obj | Handle to point cloud stitcher |
- Returns
- DW_SUCCESS
DW_INVALID_ARGUMENT
◆ dwPointCloudStitcher_setGlobalTransformation()
Sets global transformation for the stitched point cloud.
- Parameters
-
[in] | tx | Pointer to the transformation that transforms the stitched point
cloud to one common coordinate system. Parameter is optional, can
be nullptr. In this case identity transformation will be used. |
[in] | obj | Handle to point cloud stitcher |
- Returns
- DW_SUCCESS
DW_INVALID_ARGUMENT