Provides estimation of the speed and heading of the radar observing doppler based radar measurements.
- Note
- SW Release Applicability: These APIs are available in both NVIDIA DriveWorks and NVIDIA DRIVE Software releases.
◆ dwRadarDopplerMotion
struct dwRadarDopplerMotion |
Data Fields |
float32_t |
confidenceHeading |
Confidence for heading estimate. |
float32_t |
confidenceSpeed |
Confidence for radial speed estimate (range: [0, 1)) |
dwMatrix2f |
covariance |
Estimation error covariance for (heading, radial speed) |
float32_t |
heading |
Radar heading direction (the direction of radar sensor velocity) in sensor space (radian) |
dwTime_t |
hostTimestamp_us |
Host timestamp of the computed radar motion (us) |
dwRadarRange |
radarRange |
radar range type |
float32_t |
speed |
Radar speed (the magnitude of radar sensor velocity) in sensor space (m/s) |
◆ dwRadarDopplerMotionHandle_t
◆ dwRadarDopplerMotion_getCUDAStream()
Gets CUDA stream used by the radar Doppler motion.
- Parameters
-
[out] | stream | The CUDA stream currently used. |
[in] | obj | A handle to the lane detection module. |
- Returns
- DW_INVALID_HANDLE - If the given object handle is invalid, null or of wrong type .
DW_INVALID_ARGUMENT - if given stream
is invalid
DW_SUCCESS
◆ dwRadarDopplerMotion_getMotion()
Gets the available radar motion estimation result.
- Parameters
-
[out] | motion | A pointer to the last estimated motion. |
[in] | obj | - RadarDopplerMotion handle. |
- Returns
- DW_INVALID_HANDLE - If the given object handle is invalid, null or of wrong type .
DW_INVALID_ARGUMENT - if given bestPair
is invalid
DW_NOT_AVAILABLE - if currently no solution is available, i.e. no call to dwRadarDopplerMotion_processAsync()
was performed
DW_SUCCESS
◆ dwRadarDopplerMotion_initialize()
Creates and initializes a GPU-based radar motion estimation module.
- Parameters
-
[out] | obj | - A pointer to the radar Doppler motion handle. |
[in] | stream | - The CUDA stream to use for CUDA operations of the radar motion estimator. |
[in] | ctx | - Specifies the handler to the context to create radar Doppler motion. |
- Returns
- DW_BAD_CAST - If the provided context handle is invalid.
DW_INVALID_ARGUMENT - If the params of number of radars is invalid, or any pointers are null
DW_SUCCESS
◆ dwRadarDopplerMotion_processAsync()
Process the dwRadarScan and compute the radar motion.
- Parameters
-
[in] | radarScan | - dwRadarScan to compute motion for. |
[in] | obj | - RadarDopplerMotion handle. |
- Returns
- DW_INVALID_HANDLE - If the given object handle is invalid, null or of wrong type .
DW_INVALID_ARGUMENT - if given radarScan
is invalid
DW_SUCCESS
◆ dwRadarDopplerMotion_release()
Releases the radar Doppler motion module.
- Parameters
-
[in] | obj | A handle to the doppler motion object. |
- Returns
- DW_INVALID_HANDLE - If the given object handle is invalid , , null or of wrong type.
DW_SUCCESS
◆ dwRadarDopplerMotion_reset()
Resets the radar Doppler motion module.
- Parameters
-
[in] | obj | A handle to the doppler motion object. |
- Returns
- DW_INVALID_HANDLE - If the given object handle is invalid, null or of wrong type .
DW_SUCCESS
◆ dwRadarDopplerMotion_setCUDAStream()
Sets the CUDA stream for CUDA related operations.
- Note
- The ownership of the stream remains by the callee.
- Parameters
-
[in] | stream | The CUDA stream to be used. Default is the one passed during initialization. |
[in] | obj | A handle to the lane detector module for which to set CUDA stream. |
- Returns
- DW_INVALID_HANDLE - If the given object handle is invalid, null or of wrong type .
DW_SUCCESS