Defines module to produce range image via spherical projection of the point cloud.
- Note
- SW Release Applicability: These APIs are available in both NVIDIA DriveWorks and NVIDIA DRIVE Software releases.
◆ dwPointCloudRangeImageClippingParams
struct dwPointCloudRangeImageClippingParams |
◆ dwPointCloudRangeImageCreatorParams
struct dwPointCloudRangeImageCreatorParams |
◆ dwConstPointCloudRangeImageCreatorHandle_t
◆ dwPointCloudRangeImageCreatorHandle_t
◆ dwPointCloudRangeImageType
Definition of the image type of Lidar cylindrical projection image.
Enumerator |
---|
DW_POINT_CLOUD_IMAGE_TYPE_DISTANCE | R_FLOAT32 image where each pixel is the 3D distance in XYZ space.
|
DW_POINT_CLOUD_IMAGE_TYPE_INTENSITY | R_FLOAT32 image where each pixel is the Lidar intensity.
|
DW_POINT_CLOUD_IMAGE_TYPE_2D_GRID | RGBA_FLOAT32 image where each pixel is a tuple of 3D Lidar coordinate and intensity.
|
Definition at line 66 of file PointCloudRangeImageCreator.h.
◆ dwPointCloudRangeImageCreator_bindInput()
Binds input point cloud to range image creator.
- Parameters
-
[in] | pointCloud | Pointer to input buffer |
[in] | obj | Handle to range image creator |
- Returns
- DW_SUCCESS
DW_INVALID_HANDLE If neither of given handle is valid
DW_INVALID_ARGUMENT If point cloud input is nullptr
◆ dwPointCloudRangeImageCreator_bindOutput()
Binds output range image to range image creator.
- Parameters
-
[in] | image | Handle to output range image |
[in] | obj | Handle to range image creator |
- Returns
- DW_SUCCESS
DW_INVALID_HANDLE If neither of given handle is valid
DW_INVALID_ARGUMENT If image is nullptr, image properties are not correct or memory type of input/output is inconsistent.
◆ dwPointCloudRangeImageCreator_bindOutputPointCloud()
Binds output point cloud to range image creator.
- Parameters
-
[in] | pointCloud | Pointer to output point cloud. If null provided, any currently bound point cloud will be unbound |
[in] | obj | Handle to range image creator |
- Returns
- DW_SUCCESS
DW_INVALID_HANDLE If given handle is not valid
DW_INVALID_ARGUMENT If memory type or size of input/output is inconsistent.
- Note
- Output point cloud is optional. It may be used in couple with
DW_POINT_CLOUD_IMAGE_TYPE_DISTANCE
or DW_POINT_CLOUD_IMAGE_TYPE_INTENSITY
image to organize points of input point cloud. Makes sense for unorganized input only.
◆ dwPointCloudRangeImageCreator_getCUDAStream()
Gets CUDA stream of range image creator.
- Parameters
-
[out] | stream | Pointer to CUDA stream handle |
[in] | obj | Handle to range image creator |
- Returns
- DW_SUCCESS
DW_INVALID_ARGUMENT if given stream pointer is invalid
DW_INVALID_HANDLE If given handle is valid
◆ dwPointCloudRangeImageCreator_getDefaultParams()
Gets default range image creator parameters.
- Parameters
-
[out] | params | Pointer to range image creator parameters |
- Returns
- DW_SUCCESS
DW_INVALID_ARGUMENT if given param pointer is invalid
◆ dwPointCloudRangeImageCreator_getImageProperties()
Get properties of an image to bind as an output.
- Parameters
-
[out] | imageProperties | Pointer to image properties |
[in] | obj | Handle to range image creator |
- Returns
- DW_SUCCESS
DW_INVALID_HANDLE If given handle is valid
DW_INVALID_ARGUMENT If imageProperties in null
◆ dwPointCloudRangeImageCreator_initialize()
Initializes range image creator.
- Parameters
-
[out] | obj | Pointer to range image creator handle |
[in] | params | Pointer to range image creator parameters |
[in] | ctx | Handle to the context |
- Returns
- DW_SUCCESS
DW_INVALID_ARGUMENT If given parameter pointer is invalid
DW_INVALID_HANDLE If given handle is valid
◆ dwPointCloudRangeImageCreator_process()
Organizes input point cloud and projects on the spherical coordinate to form a range image.
If bound point cloud is already organized, the data is simply copied into output range image.
- Parameters
-
[in] | obj | Handle to range image creator |
- Returns
- DW_SUCCESS
DW_INVALID_HANDLE If given handle is not valid
DW_CALL_NOT_ALLOWED If no input/output buffer is bound
◆ dwPointCloudRangeImageCreator_release()
Releases range image creator.
- Parameters
-
[in] | obj | Handle to range image creator |
- Returns
- DW_SUCCESS
DW_INVALID_HANDLE If given handle is valid
◆ dwPointCloudRangeImageCreator_reset()
Resets range image creator.
- Parameters
-
[in] | obj | Handle to range image creator |
- Returns
- DW_SUCCESS
DW_INVALID_HANDLE If given handle is valid
◆ dwPointCloudRangeImageCreator_setCUDAStream()
Sets CUDA stream of range image creator.
- Parameters
-
[in] | stream | Handle to CUDA stream |
[in] | obj | Handle to range image creator |
- Returns
- DW_SUCCESS
DW_INVALID_HANDLE If given handle is valid