DopplerMotionEstimator.h

Go to the documentation of this file.

// This code contains NVIDIA Confidential Information and is disclosed
// under the Mutual Non-Disclosure Agreement.
//
// Notice
// ALL NVIDIA DESIGN SPECIFICATIONS AND CODE ("MATERIALS") ARE PROVIDED "AS IS" NVIDIA MAKES
// NO REPRESENTATIONS, WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ANY IMPLIED WARRANTIES OF NONINFRINGEMENT,
// MERCHANTABILITY, OR FITNESS FOR A PARTICULAR PURPOSE.
//
// NVIDIA Corporation assumes no responsibility for the consequences of use of such
// information or for any infringement of patents or other rights of third parties that may
// result from its use. No license is granted by implication or otherwise under any patent
// or patent rights of NVIDIA Corporation. No third party distribution is allowed unless
// expressly authorized by NVIDIA.  Details are subject to change without notice.
// This code supersedes and replaces all information previously supplied.
// NVIDIA Corporation products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA Corporation.
//
// Copyright (c) 2018-2019 NVIDIA Corporation. All rights reserved.
//
// NVIDIA Corporation and its licensors retain all intellectual property and proprietary
// rights in and to this software and related documentation and any modifications thereto.
// Any use, reproduction, disclosure or distribution of this software and related
// documentation without an express license agreement from NVIDIA Corporation is
// strictly prohibited.
//

#ifndef DW_EGOMOTION_RADAR_DOPPLERMOTIONESTIMATOR_H__
#define DW_EGOMOTION_RADAR_DOPPLERMOTIONESTIMATOR_H__

#include <dw/core/Context.h>
#include <dw/sensors/radar/Radar.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef struct dwRadarDopplerMotion
{
    float32_t speed;

    float32_t heading;

    dwMatrix2f covariance;

    float32_t confidenceSpeed;

    float32_t confidenceHeading;

    dwTime_t hostTimestamp_us;

    dwRadarRange radarRange;

} dwRadarDopplerMotion;

typedef struct dwRadarDopplerMotionObject* dwRadarDopplerMotionHandle_t;

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

DW_API_PUBLIC
dwStatus dwRadarDopplerMotion_setCUDAStream(cudaStream_t stream,
                                            dwRadarDopplerMotionHandle_t obj);

DW_API_PUBLIC
dwStatus dwRadarDopplerMotion_getCUDAStream(cudaStream_t* stream,
                                            dwRadarDopplerMotionHandle_t obj);

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

DW_API_PUBLIC
dwStatus dwRadarDopplerMotion_getMotion(dwRadarDopplerMotion* motion,
                                        dwRadarDopplerMotionHandle_t obj);

DW_API_PUBLIC
dwStatus dwRadarDopplerMotion_reset(dwRadarDopplerMotionHandle_t obj);

DW_API_PUBLIC
dwStatus dwRadarDopplerMotion_release(dwRadarDopplerMotionHandle_t obj);

#ifdef __cplusplus
}
#endif

#endif // DW_EGOMOTION_RADAR_DOPPLERMOTIONESTIMATOR_H__