RadarLandmarkEngine.h

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#ifndef DW_RADARLANDMARKENGINE_H_
#define DW_RADARLANDMARKENGINE_H_

#include <dw/core/Config.h>
#include <dw/core/Exports.h>
#include <dw/core/Types.h>
#include <dw/core/Context.h>

#include <dw/sensors/radar/Radar.h>
#include <dw/egomotion/Egomotion.h>

/* 
 * @note SW Release Applicability: These APIs are available in <b>NVIDIA DRIVE Software</b> releases.
 */

typedef struct dwRadarLandmarkEngineObject* dwRadarLandmarkEngineHandle_t;

typedef struct dwRadarLandmarkEngineParam
{
    uint32_t bufferDuration_us;
    uint32_t outOfOrderGracePeriod_us;
    float32_t minPointRCS_dB;
    float32_t clampPointRCS_dB;
    float32_t minVehicleVelocity_mps;
    float32_t stationaryDetectionThreshold_mps;
    bool filterByRCS;
    bool filterByVehicleVelocity;
    bool filterByDynamicState;
    bool useLongRangeScans;
} dwRadarLandmarkEngineParam;

#ifdef __cplusplus
extern "C" {
#endif

dwStatus dwRadarLandmarkEngine_initialize(dwRadarLandmarkEngineHandle_t* handle,
                                          dwContextHandle_t contextHandle,
                                          dwEgomotionConstHandle_t imuEgomotionHandle,
                                          dwRadarProperties* const radarProperties,
                                          dwTransformation3f* const radarToRig,
                                          uint32_t numRadarSensors,
                                          const dwRadarLandmarkEngineParam* params);

dwStatus dwRadarLandmarkEngine_reset(dwRadarLandmarkEngineHandle_t handle);

dwStatus dwRadarLandmarkEngine_release(dwRadarLandmarkEngineHandle_t handle);

dwStatus dwRadarLandmarkEngine_getDefaultParameters(dwRadarLandmarkEngineParam* params);

dwStatus dwRadarLandmarkEngine_getLatestScanTime(dwTime_t* latestScanTime,
                                                 dwRadarLandmarkEngineHandle_t handle);
dwStatus dwRadarLandmarkEngine_getRadarPoints(dwVector4f* radarPoints,
                                              uint32_t* numPoints,
                                              dwTime_t startTime,
                                              dwTime_t endTime,
                                              dwTime_t motionCompensationTime,
                                              dwRadarLandmarkEngineHandle_t handle);

dwStatus dwRadarLandmarkEngine_addRadarScan(uint32_t radarId,
                                            const dwRadarScan* radarScan,
                                            dwRadarLandmarkEngineHandle_t handle);

dwStatus dwRadarLandmarkEngine_getRadarPointsMaxSize(uint32_t* maxNumPoints,
                                                     dwRadarLandmarkEngineHandle_t handle);

dwStatus dwRadarLandmarkEngine_getRadarScansMaxSize(uint32_t* maxNumScans,
                                                    dwRadarLandmarkEngineHandle_t handle);

dwStatus dwRadarLandmarkEngine_getRadarScanPointsMaxSize(uint32_t* maxNumPoints,
                                                         dwRadarLandmarkEngineHandle_t handle);

dwStatus dwRadarLandmarkEngine_setRadarExtrinsics(uint32_t radarId,
                                                  const dwTransformation3f* radarToRig,
                                                  dwRadarLandmarkEngineHandle_t handle);

#ifdef __cplusplus
}
#endif

#endif // DW_RADARLANDMARKENGINE_H_