Detailed Description

NVIDIA DriveWorks API: Localization

Description: This file defines functions to perform Localization.

Data Structures
struct	dwLocalizationCameraParameters
	Parameters for initializing the camera localization module. More...

struct	dwLocalizationRadarParameters
	Parameters for initializing the radar / lidar localization module. More...

struct	dwLocalizationResult
	Output structure obtained from any of the localization modules (camera, radar, lidar, fusion). More...

Macros
#define	DW_LOCALIZATION_MAX_CAMERA_COUNT 8

Typedefs
typedef struct dwLocalizationObject *	dwLocalizationHandle_t
	Handle to a localization module object. More...

typedef dwLocalizationRadarParameters	dwLocalizationLidarParameters

Enumerations
enum	dwLocalizationResultIndicator { DW_LOCALIZATION_RESULT_INDICATOR_NORMAL = 0, DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_DATA0 = (1u << 0), DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_DATA1 = (1u << 1), DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_DATA2 = (1u << 2), DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_DATA3 = (1u << 3), DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_DATA4 = (1u << 4), DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_DATA5 = (1u << 5), DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_DATA6 = (1u << 6), DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_DATA7 = (1u << 7), DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_CALIBRATION0 = (1u << 8), DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_CALIBRATION1 = (1u << 9), DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_CALIBRATION2 = (1u << 10), DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_CALIBRATION3 = (1u << 11), DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_CALIBRATION4 = (1u << 12), DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_CALIBRATION5 = (1u << 13), DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_CALIBRATION6 = (1u << 14), DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_CALIBRATION7 = (1u << 15), DW_LOCALIZATION_RESULT_INDICATOR_BAD_GLOBAL_EGOMOTION = (1u << 16), DW_LOCALIZATION_RESULT_INDICATOR_BAD_RELATIVE_EGOMOTION = (1u << 17), DW_LOCALIZATION_RESULT_INDICATOR_BAD_MAP_CORE = (1u << 18), DW_LOCALIZATION_RESULT_INDICATOR_BAD_MAP_SENSOR_LAYER = (1u << 19) }
	Defines all the possible localization result indicators, set via bits. More...

Functions
DW_API_PUBLIC dwStatus	dwLocalization_cameraInitialize (dwLocalizationHandle_t localization, dwConstMapHandle_t map, const dwLocalizationCameraParameters params, dwContextHandle_t context)
	Create a new camera localization module. More...

DW_API_PUBLIC dwStatus	dwLocalization_cameraInitParamsFromRig (dwLocalizationCameraParameters *params, dwConstRigHandle_t rig, uint32_t numCameras, const uint32_t cameraIndices[], const dwCameraModelHandle_t cameraHandles[])
	Initializes a camera localization parameters struct for an existing rig. More...

DW_API_PUBLIC dwStatus	dwLocalization_cameraLocalize (dwLocalizationResult localizationResult, const dwLaneDetection laneDetectionsPerCamera[], const dwLandmarkDetection poleDetectionsPerCamera[], const dwObjectArray signAndLightDetectionsPerCamera[], const dwGlobalEgomotionResult globalEgoResult, const dwGlobalEgomotionUncertainty globalEgoUncertainty, const dwTransformation3f currToPrev, const dwEgomotionRelativeUncertainty *currToPrevUncertainty, dwTime_t timestamp, dwLocalizationHandle_t localization)
	Localize the rig based on the latest measurements with camera. More...

DW_API_PUBLIC dwStatus	dwLocalization_cameraSetExtrinsics (uint32_t cameraIndex, const dwTransformation3f *cameraToRig, dwLocalizationHandle_t localization)
	Sets the camera-to-rig extrinsic transformation for a specified camera. More...

DW_API_PUBLIC dwStatus	dwLocalization_getCUDAStream (cudaStream_t *stream, dwLocalizationHandle_t localization)
	Gets the CUDA stream used by all landmark detections. More...

DW_API_PUBLIC dwStatus	dwLocalization_lidarInitialize (dwLocalizationHandle_t localization, dwConstMapHandle_t map, dwMapProviderHandle_t mapProvider, const dwMapsContentLayerBuffer contentLayers, const dwLocalizationLidarParameters *params, dwContextHandle_t context)
	Create a new lidar localization module. More...

DW_API_PUBLIC dwStatus	dwLocalization_lidarLocalize (dwLocalizationResult localizationResult, const dwPointCloud lidarPoints, const dwGlobalEgomotionResult globalEgoResult, const dwGlobalEgomotionUncertainty globalEgoUncertainty, const dwTransformation3f currToPrev, const dwEgomotionRelativeUncertainty currToPrevUncertainty, dwTime_t timestamp, dwLocalizationHandle_t localization)
	Localize the rig based on the latest measurements with lidar. More...

DW_API_PUBLIC dwStatus	dwLocalization_radarInitialize (dwLocalizationHandle_t localization, dwConstMapHandle_t map, dwMapProviderHandle_t mapProvider, const dwMapsContentLayerBuffer contentLayers, const dwLocalizationRadarParameters *params, dwContextHandle_t context)
	Create a new radar localization module. More...

DW_API_PUBLIC dwStatus	dwLocalization_radarLocalize (dwLocalizationResult localizationResult, const dwVector4f radarPoints, size_t numPoints, const dwGlobalEgomotionResult globalEgoResult, const dwGlobalEgomotionUncertainty globalEgoUncertainty, const dwTransformation3f currToPrev, const dwEgomotionRelativeUncertainty currToPrevUncertainty, dwTime_t timestamp, dwLocalizationHandle_t localization)
	Localize the rig based on the latest measurements with radar. More...

DW_API_PUBLIC dwStatus	dwLocalization_release (dwLocalizationHandle_t localization)
	Releases the localization module. More...

DW_API_PUBLIC dwStatus	dwLocalization_reset (dwLocalizationHandle_t localization)
	Resets all internal state of the localization module; does not modify properties specified in each initialization function. More...

DW_API_PUBLIC dwStatus	dwLocalization_setCUDAStream (cudaStream_t stream, dwLocalizationHandle_t localization)
	Sets the CUDA stream for CUDA related operations. More...

DW_API_PUBLIC dwStatus	dwLocalization_setMap (dwConstMapHandle_t map, dwLocalizationHandle_t localization)
	Sets a new HD Map to localize to. More...

Detailed Description

Data Structures

Macros

Typedefs

Enumerations

Functions