49 #ifndef DW_LOCALIZATION_H_ 50 #define DW_LOCALIZATION_H_ 150 #define DW_LOCALIZATION_MAX_CAMERA_COUNT 8 206 const uint32_t cameraIndices[],
270 dwLocalizationHandle_t localization);
353 dwLocalizationHandle_t localization);
378 const dwLocalizationLidarParameters* params,
418 dwLocalizationHandle_t localization);
435 dwLocalizationHandle_t localization);
489 #endif // DW_LOCALIZATION_H_ dwMatrix3d positionUncertainty
A 3x3 covariance matrix indicating position uncertainty with respect to the rig frame itself (order: ...
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.
float float32_t
Specifies POD types.
NVIDIA DriveWorks API: Rig Configuration
Defines point cloud data structure.
NVIDIA DriveWorks API: World Module
dwQuaterniond globalOrientation
Global orientation (quaternion) in the local ENU frame set at globalPosition.
Defines a four-element single-precision floating point vector.
Defines a three-element floating-point vector.
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.
DW_API_PUBLIC dwStatus dwLocalization_release(dwLocalizationHandle_t localization)
Releases the localization module.
Defines a double-precision quaternion.
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.
dwQuaterniond relativeOrientation
Relative orientation in a local ENU frame set at the road segment origin.
The output format of detected line types.
Holds egomotion uncertainty estimates for a relative motion estimate.
NVIDIA DriveWorks API: Core Methods
DW_API_PUBLIC dwStatus dwLocalization_getCUDAStream(cudaStream_t *stream, dwLocalizationHandle_t localization)
Gets the CUDA stream used by all landmark detections.
dwTime_t timestamp
Timestamp that localization was run on.
NVIDIA DriveWorks API: Maps
DW_API_PUBLIC dwStatus dwLocalization_cameraInitialize(dwLocalizationHandle_t *localization, dwConstMapHandle_t map, const dwLocalizationCameraParameters *params, dwContextHandle_t context)
Create a new camera localization module.
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.
dwVector3f relativePosition
Relative position in a local ENU frame set at the road segment origin.
dwMapsRoadSegmentId roadSegmentId
ID of the road segment that relative pose is with respect to.
DW_API_PUBLIC dwStatus dwLocalization_setMap(dwConstMapHandle_t map, dwLocalizationHandle_t localization)
Sets a new HD Map to localize to.
dwLocalizationResultIndicator
Defines all the possible localization result indicators, set via bits.
dwMatrix3d orientationUncertainty
A 3x3 covariance matrix indicating orientation uncertainty with respect to the rig frame itself (orde...
dwStatus
Status definition.
Holds global egomotion state estimate.
DW_API_PUBLIC dwStatus dwLocalization_setCUDAStream(cudaStream_t stream, dwLocalizationHandle_t localization)
Sets the CUDA stream for CUDA related operations.
Location point defined by WGS84 coordinates.
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.
DW_API_PUBLIC dwStatus dwLocalization_reset(dwLocalizationHandle_t localization)
Resets all internal state of the localization module; does not modify properties specified in each in...
int64_t dwTime_t
Specifies a timestamp unit, in microseconds.
bool isMapAvailable
A boolean flag indicating if map is available in the surrounding of the vehicle.
Globally unique identifier for road segments.
struct dwRigObject const * dwConstRigHandle_t
float32_t confidence
A [0, 1] floating point number that indicates the confidence of the localization result.
NVIDIA DriveWorks API: Landmark Detector Methods
Defines a 3x3 matrix of double floating point numbers.
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.
uint32_t numCameras
The number of cameras to use for localization.
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.
struct dwMapProviderObject * dwMapProviderHandle_t
Parameters for initializing the radar / lidar localization module.
bool asyncLoading
Load maps in background thread.
The output format of detected lanes.
NVIDIA DriveWorks API: GPS
NVIDIA DriveWorks API: Point Cloud Processing
Homogeneous array of structs.
Parameters for initializing the camera localization module.
Holds global egomotion uncertainty estimate.
dwLocalizationRadarParameters dwLocalizationLidarParameters
NVIDIA DriveWorks API: Global Egomotion Methods
struct dwContextObject * dwContextHandle_t
Context handle.
Caller-provided buffer for content layers.
dwMapsGeoPoint globalPosition
Global WGS84 position (LLA).
struct dwMapObject const * dwConstMapHandle_t
struct dwCameraModelObject * dwCameraModelHandle_t
A pointer to the handle representing a calibrated camera model.
dwLocalizationResultIndicator indicator
Localization indicator indicates whether there are any problems.
uint32_t pointSkip
Optional additional point filtering.
#define DW_LOCALIZATION_MAX_CAMERA_COUNT
Output structure obtained from any of the localization modules (camera, radar, lidar, fusion).
NVIDIA DriveWorks API: IMU
struct dwLocalizationObject * dwLocalizationHandle_t
Handle to a localization module object.