PointCloudICP.h File Reference

Detailed Description

NVIDIA DriveWorks API: Point Cloud ICP

Description: This file defines API of Point Cloud ICP module.

Definition in file PointCloudICP.h.

Go to the source code of this file.

Data Structures
struct	dwPointCloudICPParams
	Defines point cloud icp parameter. More...
struct	dwPointCloudICPResultStats
	Some result stats about the most recent ICP run. More...

Typedefs
typedef bool(*	dwPointCloudICPConvergenceCheck) (const dwTransformation3f *prevSrc2Tgt, const dwTransformation3f *newSrc2Tgt, void *userData)
	Callback function to be executed by ICP module allowing user to overwrite default convergence criteria method. More...
typedef struct dwPointCloudICPObject *	dwPointCloudICPHandle_t

Enumerations
enum	dwPointCloudICPType { DW_POINT_CLOUD_ICP_TYPE_DEPTH_MAP }
	Defines point cloud icp type. More...

Functions
DW_API_PUBLIC dwStatus	dwPointCloudICP_bindInput (const dwPointCloud *sourcePCD, const dwPointCloud *targetPCD, const dwTransformation3f *sourceToTarget, dwPointCloudICPHandle_t obj)
	Binds Input buffers to point cloud icp. More...
DW_API_PUBLIC dwStatus	dwPointCloudICP_bindOutput (dwTransformation3f *pose, dwPointCloudICPHandle_t obj)
	Binds output buffer to point cloud icp. More...
DW_API_PUBLIC dwStatus	dwPointCloudICP_getCUDAStream (cudaStream_t *stream, dwPointCloudICPHandle_t obj)
	Gets CUDA stream of point cloud icp. More...
DW_API_PUBLIC dwStatus	dwPointCloudICP_getDefaultParams (dwPointCloudICPParams *params)
	Gets default point cloud icp parameters. More...
DW_API_PUBLIC dwStatus	dwPointCloudICP_getLastResultStats (dwPointCloudICPResultStats *resultStats, dwPointCloudICPHandle_t obj)
	Get stats about latest point cloud ICP run, returns the costs for last pose. More...
DW_API_PUBLIC dwStatus	dwPointCloudICP_getMaximumDepthMapSize (uint32_t *maxDepthMapSize)
	Get the maximum size of the depth map in number of points supported by the ICP implementation. More...
DW_API_PUBLIC dwStatus	dwPointCloudICP_initialize (dwPointCloudICPHandle_t *obj, const dwPointCloudICPParams *params, dwContextHandle_t ctx)
	Initializes point cloud icp. More...
DW_API_PUBLIC dwStatus	dwPointCloudICP_process (dwPointCloudICPHandle_t obj)
	Estimates the transformation aligns two PointClouds. More...
DW_API_PUBLIC dwStatus	dwPointCloudICP_release (dwPointCloudICPHandle_t obj)
	Releases point cloud icp. More...
DW_API_PUBLIC dwStatus	dwPointCloudICP_reset (dwPointCloudICPHandle_t obj)
	Resets point cloud icp. More...
DW_API_PUBLIC dwStatus	dwPointCloudICP_setConvergenceCriteriaCallback (dwPointCloudICPConvergenceCheck callback, void *userData, dwPointCloudICPHandle_t obj)
	Set callback to be executed to test convergence. More...
DW_API_PUBLIC dwStatus	dwPointCloudICP_setConvergenceTolerance (float32_t angleTol, float32_t distanceTol, dwPointCloudICPHandle_t obj)
	Set tolerances used by the default ICP convergence criteria method. More...
DW_API_PUBLIC dwStatus	dwPointCloudICP_setCUDAStream (const cudaStream_t stream, dwPointCloudICPHandle_t obj)
	Sets CUDA stream of point cloud icp. More...
DW_API_PUBLIC dwStatus	dwPointCloudICP_setMaxIterations (uint16_t maxIterations, dwPointCloudICPHandle_t obj)
	Set maximum number of iterations which need to be executed. More...