PointCloudRangeImageCreator.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_POINTCLOUDPROCESSING_POINTCLOUDRANGEIMAGECREATOR_H_
#define DW_POINTCLOUDPROCESSING_POINTCLOUDRANGEIMAGECREATOR_H_

#include <dw/core/Types.h>
#include <dw/core/Context.h>
#include <dw/pointcloudprocessing/PointCloud.h>
#include <dw/image/Image.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef struct dwPointCloudRangeImageCreatorObject* dwPointCloudRangeImageCreatorHandle_t;
typedef const struct dwPointCloudRangeImageCreatorObject* dwConstPointCloudRangeImageCreatorHandle_t;

typedef enum {
    DW_POINT_CLOUD_IMAGE_TYPE_DISTANCE  = 0, 
    DW_POINT_CLOUD_IMAGE_TYPE_INTENSITY = 1, 
    DW_POINT_CLOUD_IMAGE_TYPE_2D_GRID   = 2, 
} dwPointCloudRangeImageType;

typedef struct
{
    float32_t farDist;  
    float32_t nearDist; 

    float32_t minElevationRadians; 
    float32_t maxElevationRadians; 
    float32_t minAzimuthRadians;   
    float32_t maxAzimuthRadians;   

    dwOrientedBoundingBox3f orientedBoundingBox; 
} dwPointCloudRangeImageClippingParams;

typedef struct
{
    dwMemoryType memoryType;                             
    uint32_t maxInputPoints;                             
    uint32_t width;                                      
    uint32_t height;                                     
    dwPointCloudRangeImageType type;                     
    dwTransformation3f transformation;                   
    dwPointCloudRangeImageClippingParams clippingParams; 
} dwPointCloudRangeImageCreatorParams;

DW_API_PUBLIC
dwStatus dwPointCloudRangeImageCreator_initialize(dwPointCloudRangeImageCreatorHandle_t* obj,
                                                  const dwPointCloudRangeImageCreatorParams* params,
                                                  dwContextHandle_t ctx);

DW_API_PUBLIC
dwStatus dwPointCloudRangeImageCreator_reset(dwPointCloudRangeImageCreatorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudRangeImageCreator_release(dwPointCloudRangeImageCreatorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudRangeImageCreator_getDefaultParams(dwPointCloudRangeImageCreatorParams* params);

DW_API_PUBLIC
dwStatus dwPointCloudRangeImageCreator_getCUDAStream(cudaStream_t* stream,
                                                     dwConstPointCloudRangeImageCreatorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudRangeImageCreator_setCUDAStream(cudaStream_t stream,
                                                     dwPointCloudRangeImageCreatorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudRangeImageCreator_getImageProperties(dwImageProperties* imageProperties,
                                                          dwConstPointCloudRangeImageCreatorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudRangeImageCreator_bindInput(const dwPointCloud* pointCloud,
                                                 dwPointCloudRangeImageCreatorHandle_t obj);
DW_API_PUBLIC
dwStatus dwPointCloudRangeImageCreator_bindOutput(dwImageHandle_t image,
                                                  dwPointCloudRangeImageCreatorHandle_t obj);
DW_API_PUBLIC
dwStatus dwPointCloudRangeImageCreator_bindOutputPointCloud(dwPointCloud* pointCloud,
                                                            dwPointCloudRangeImageCreatorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudRangeImageCreator_process(dwPointCloudRangeImageCreatorHandle_t obj);

#ifdef __cplusplus
}
#endif

#endif // DW_POINTCLOUDPROCESSING_POINTCLOUDRANGEIMAGECREATOR_H_