DriveWorks SDK Reference
3.0.4260 Release
For Test and Development only

Lidar Plugin

Detailed Description

Provides an interface for supporting non-standard Lidar sensors.

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

Data Structures

struct  _dwLidarDecoder_constants
 Holds constants for a given lidar. More...
 

Functions

dwStatus _dwLidarDecoder_decodePacket (dwLidarDecodedPacket *output, const uint8_t *buffer, const size_t length)
 Decodes a packet from the lidar, given a raw byte array and a specified decoding format. More...
 
dwStatus _dwLidarDecoder_getConstants (_dwLidarDecoder_constants *constants)
 Gets constants associated with this lidar sensor. More...
 
dwStatus _dwLidarDecoder_initialize (const float32_t spinFrequency)
 Initializes the lidar decoder interface. More...
 
dwStatus _dwLidarDecoder_release ()
 Releases the lidar decoder interface. More...
 
dwStatus _dwLidarDecoder_synchronize (const uint8_t *buffer, const size_t length, size_t *remaining)
 Determines whether a byte array of packet data has a valid lidar signature. More...
 
dwStatus _dwLidarDecoder_validatePacket (const uint8_t *buffer, const size_t length)
 Determines whether a byte array of packet data is valid. More...
 

Data Structure Documentation

◆ _dwLidarDecoder_constants

struct _dwLidarDecoder_constants
Data Fields
size_t headerSize Packet header size, in bytes.
size_t maxPayloadSize Packet max payload size, in bytes.
dwLidarProperties properties Radar properties.

Function Documentation

◆ _dwLidarDecoder_decodePacket()

dwStatus _dwLidarDecoder_decodePacket ( dwLidarDecodedPacket output,
const uint8_t *  buffer,
const size_t  length 
)

Decodes a packet from the lidar, given a raw byte array and a specified decoding format.

Parameters
[out]outputDecoded packet output is written here.
[in]bufferByte array containing raw data.
[in]lengthLength of the byte array.
Returns
DW_FAILURE, DW_SUCCESS

◆ _dwLidarDecoder_getConstants()

dwStatus _dwLidarDecoder_getConstants ( _dwLidarDecoder_constants constants)

Gets constants associated with this lidar sensor.

Parameters
[out]constantsConstant parameters for this sensor are written here.
Returns
DW_FAILURE, DW_SUCCESS

◆ _dwLidarDecoder_initialize()

dwStatus _dwLidarDecoder_initialize ( const float32_t  spinFrequency)

Initializes the lidar decoder interface.

Returns
DW_FAILURE, DW_SUCCESS

◆ _dwLidarDecoder_release()

dwStatus _dwLidarDecoder_release ( )

Releases the lidar decoder interface.

Returns
DW_FAILURE, DW_SUCCESS

◆ _dwLidarDecoder_synchronize()

dwStatus _dwLidarDecoder_synchronize ( const uint8_t *  buffer,
const size_t  length,
size_t *  remaining 
)

Determines whether a byte array of packet data has a valid lidar signature.

Parameters
[in]bufferA pointer to the byte array containing packet data.
[in]lengthLength of the buffer in bytes.
[out]remainingNumber of bytes remaining for packet completion.
Returns
DW_SUCCESS if the lidar signature is valid, or DW_FAILURE otherwise.

◆ _dwLidarDecoder_validatePacket()

dwStatus _dwLidarDecoder_validatePacket ( const uint8_t *  buffer,
const size_t  length 
)

Determines whether a byte array of packet data is valid.

The definition of "valid" here is implementation-specific.

Parameters
[in]bufferA pointer to the byte array containing packet data.
[in]lengthLength of the buffer in bytes.
Returns
DW_SUCCESS if the packet data is valid, or DW_FAILURE otherwise.