49 #ifndef DW_SENSORS_LIDAR_LIDAR_H_ 50 #define DW_SENSORS_LIDAR_LIDAR_H_ 96 #define DW_SENSORS_LIDAR_MAX_ROWS 256 230 #endif // DW_SENSORS_LIDAR_LIDAR_H_
DW_API_PUBLIC dwStatus dwSensorLidar_enableDecoding(dwSensorHandle_t sensor)
Enables the decoding of the Lidar packets, which incurs an additional CPU load.
NVIDIA DriveWorks API: Core Types
float float32_t
Specifies POD types.
uint32_t packetsPerSecond
float32_t minVerticalAngleRad
DW_API_PUBLIC dwStatus dwSensorLidar_processRawData(const dwLidarDecodedPacket **data, const uint8_t *rawData, size_t size, dwSensorHandle_t sensor)
Decodes RAW data previously read and returns a pointer to it.
float32_t horizontalFOVStart
float32_t verticalFOVStart
#define DW_SENSORS_LIDAR_MAX_ROWS
maximal number of rows in dwLidarProperties
Holds a Lidar point cloud XYZ and the associated intensity.
float32_t maxHorizontalAngleRad
struct dwSensorObject * dwSensorHandle_t
Handle representing a sensor.
dwStatus
Status definition.
NVIDIA DriveWorks API: Sensors
float32_t minHorizontalAngleRad
DW_API_PUBLIC dwStatus dwSensorLidar_getProperties(dwLidarProperties *lidarProperties, dwSensorHandle_t sensor)
Gets information about the Lidar sensor.
float32_t horizontalFOVEnd
int64_t dwTime_t
Specifies a timestamp unit, in microseconds.
DW_API_PUBLIC dwStatus dwSensorLidar_readPacket(const dwLidarDecodedPacket **data, dwTime_t timeout_us, dwSensorHandle_t sensor)
Reads one scan packet.
const dwLidarPointRTHI * pointsRTHI
const dwLidarPointXYZI * pointsXYZI
DW_API_PUBLIC dwStatus dwSensorLidar_returnPacket(const dwLidarDecodedPacket *scan, dwSensorHandle_t sensor)
Returns the data read to the internal pool.
float32_t maxVerticalAngleRad
DW_API_PUBLIC dwStatus dwSensorLidar_disableDecoding(dwSensorHandle_t sensor)
Disable the decoding of the Lidar packets, which frees additional CPU load.
DW_API_PUBLIC dwStatus dwSensorLidar_isDecodingEnabled(bool *enable, dwSensorHandle_t sensor)
Retrieves the state of packet decoding.