Detailed Description

Provides an interface for non-standard Lidar sensors.

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

Data Structures
struct	_dwSensorLidarDecoder_constants
	Holds constants for a given lidar. More...

struct	dwSensorLidarPluginFunctionTable
	Holds the list of exported functions implemented by the vendor-provided library. More...

Typedefs
typedef dwStatus(*	dwSensorLidarPlugin_getDecoderConstants) (_dwSensorLidarDecoder_constants *constants, dwSensorPluginSensorHandle_t sensor)
	Gets constants associated with this lidar sensor. More...

typedef dwStatus(*	dwSensorLidarPlugin_parseDataBuffer) (dwLidarDecodedPacket *output, const uint64_t hostTimeStamp, dwSensorPluginSensorHandle_t sensor)
	Processes the data previously passed via the 'dwSensorPlugin_pushData' interface. More...

Functions
dwStatus	dwSensorLidarPlugin_getFunctionTable (dwSensorLidarPluginFunctionTable *functions)
	Returns the table of functions that are provided by the vendor-provided library for the sensor. More...

Data Structure Documentation

struct _dwSensorLidarDecoder_constants

Data Fields
size_t	maxPayloadSize	Packet max payload size, in bytes.
dwLidarProperties	properties	Lidar properties.

struct dwSensorLidarPluginFunctionTable

Data Fields
dwSensorCommonPluginFunctions	common
dwSensorLidarPlugin_getDecoderConstants	getDecoderConstants
dwSensorLidarPlugin_parseDataBuffer	parseDataBuffer

typedef dwStatus(* dwSensorLidarPlugin_getDecoderConstants) (_dwSensorLidarDecoder_constants *constants, dwSensorPluginSensorHandle_t sensor)

Gets constants associated with this lidar sensor.

Parameters

[out]	constants	Constant parameters for this sensor are written here.
[in]	sensor	Specifies the sensor to which the constants are related.

Definition at line 95 of file LidarPlugin.h.

typedef dwStatus(* dwSensorLidarPlugin_parseDataBuffer) (dwLidarDecodedPacket *output, const uint64_t hostTimeStamp, dwSensorPluginSensorHandle_t sensor)

Processes the data previously passed via the 'dwSensorPlugin_pushData' interface.

The interpreted memory buffer outputted from this API is owned by the plugin. The plugin shall support multiple buffers in flight via this API.

Parameters

[out]	output	Pointer to decoded lidar point cloud
[in]	hostTimeStamp	Specifies the host timeStamp when raw data was received.
[in]	sensor	Specifies the sensor the data came from.

Returns: DW_INVALID_HANDLE - if the sensor handle is NULL or invalid
DW_NOT_AVAILABLE - if no frame is ready for consumption DW_SUCCESS

Definition at line 83 of file LidarPlugin.h.

dwStatus dwSensorLidarPlugin_getFunctionTable ( dwSensorLidarPluginFunctionTable * functions )

Returns the table of functions that are provided by the vendor-provided library for the sensor.

Parameters

[out] functions Function table exported by the library

Returns: DW_FAILURE - unspecified failure while getting the function table.
DW_SUCCESS