Detailed Description

Localization fusion module for HD maps.

The localization fusion module takes results from camera, radar, and lidar localization and provide a more robust and accurate result to localize the vehicle in an HD map.

Note: SW Release Applicability: These APIs are available in NVIDIA DRIVE Software releases.

Macros
#define	DW_LOCALIZATION_FUSION_MAX_INPUT_COUNT 3

Typedefs
typedef struct dwLocalizationFusionObject *	dwLocalizationFusionHandle_t
	Handle to a localization fusion module object. More...

Functions
DW_API_PUBLIC dwStatus	dwLocalizationFusion_initialize (dwLocalizationFusionHandle_t *localizationFusion, uint32_t maxLocalizationResultsCount, const dwConstMapHandle_t map, dwContextHandle_t context)
	Create a new localization fusion module. More...

DW_API_PUBLIC dwStatus	dwLocalizationFusion_localize (dwLocalizationResult fusedResult, const dwLocalizationResult localizationResults, size_t numResults, const dwTransformation3f currToPrev, const dwEgomotionRelativeUncertainty currToPrevUncertainty, dwTime_t timestamp, dwLocalizationFusionHandle_t localizationFusion)
	Update localization fusion model with new measurements If timestamp is identical to the previous timestamp, rerun localization. More...

DW_API_PUBLIC dwStatus	dwLocalizationFusion_predictLocalization (dwLocalizationResult predicted, const dwLocalizationResult prev, const dwTransformation3f predictedToPrev, const dwEgomotionRelativeUncertainty predictedToPrevUncertainty, dwTime_t predictionTimestamp)
	Predict a localization result to a given timestamp using relative egomotion. More...

DW_API_PUBLIC dwStatus	dwLocalizationFusion_release (dwLocalizationFusionHandle_t localizationFusion)
	Releases the localization fusion module. More...

DW_API_PUBLIC dwStatus	dwLocalizationFusion_reset (dwLocalizationFusionHandle_t localizationFusion)
	Reset localization fusion state to default values. More...

DW_API_PUBLIC dwStatus	dwLocalizationFusion_setMap (dwConstMapHandle_t map, dwLocalizationFusionHandle_t localizationFusion)
	Sets a new HD Map to localize to. More...

Macro Definition Documentation

◆ DW_LOCALIZATION_FUSION_MAX_INPUT_COUNT

#define DW_LOCALIZATION_FUSION_MAX_INPUT_COUNT 3

Definition at line 60 of file LocalizationFusion.h.

Typedef Documentation

◆ dwLocalizationFusionHandle_t

typedef struct dwLocalizationFusionObject* dwLocalizationFusionHandle_t

Handle to a localization fusion module object.

Definition at line 65 of file LocalizationFusion.h.

Function Documentation

◆ dwLocalizationFusion_initialize()

DW_API_PUBLIC dwStatus dwLocalizationFusion_initialize	(	dwLocalizationFusionHandle_t *	localizationFusion,
		uint32_t	maxLocalizationResultsCount,
		const dwConstMapHandle_t	map,
		dwContextHandle_t	context
	)

Create a new localization fusion module.

Parameters

[out]	localizationFusion	Handle to the localization module being initialized.
[in]	maxLocalizationResultsCount	The maximum number of localization results to fuse.
[in]	map	Handle to the maps module used for map data.
[in]	context	Handle to the current driveworks context.

Returns: DW_INVALID_ARGUMENTS - if given arguments are invalid
DW_FAILURE - if localization could not be initialized
DW_SUCCESS

◆ dwLocalizationFusion_localize()

DW_API_PUBLIC dwStatus dwLocalizationFusion_localize	(	dwLocalizationResult *	fusedResult,
		const dwLocalizationResult *	localizationResults,
		size_t	numResults,
		const dwTransformation3f *	currToPrev,
		const dwEgomotionRelativeUncertainty *	currToPrevUncertainty,
		dwTime_t	timestamp,
		dwLocalizationFusionHandle_t	localizationFusion
	)

Update localization fusion model with new measurements If timestamp is identical to the previous timestamp, rerun localization.

Parameters

[out]	fusedResult	Fused localization result
[in]	localizationResults	Array of results to be fused into localization fusion module state
[in]	numResults	number of input localization results
[in]	currToPrev	The relative transformation mapping the current frame's pose to the previous frame's pose. Previous denotes the timestamp of the last time dwLocalizationFusion_localize was called. If this is the first time calling dwLocalizationFusion_localize, the identity transformation is expected.
[in]	currToPrevUncertainty	The uncertainty of the relative transformation. If this is the first time calling dwLocalizationFusion_localize, any arbitrary uncertainty is accepted.
[in]	timestamp	The timestamp at which to fuse.
[in]	localizationFusion	Handle to the localization fusion module.

Returns: DW_INVALID_HANDLE - if given handle is invalid
DW_INVALID_ARGUMENTS - if given arguments are invalid
DW_OUT_OF_BOUNDS - if numResults greater than DW_LOCALIZATION_FUSION_MAX_INPUT_COUNT
DW_SUCCESS

◆ dwLocalizationFusion_predictLocalization()

DW_API_PUBLIC dwStatus dwLocalizationFusion_predictLocalization	(	dwLocalizationResult *	predicted,
		const dwLocalizationResult *	prev,
		const dwTransformation3f *	predictedToPrev,
		const dwEgomotionRelativeUncertainty *	predictedToPrevUncertainty,
		dwTime_t	predictionTimestamp
	)

Predict a localization result to a given timestamp using relative egomotion.

This function is useful for fusing localization measurements at different timestamps.

Parameters

[out]	predicted	The output predicted localization result.
[in]	prev	The localization result to predict.
[in]	predictedToPrev	The relative transformation mapping the prediction frame's pose to the `old` frame's pose.
[in]	predictedToPrevUncertainty	The uncertainty of the relative transformation.
[in]	predictionTimestamp	The timestamp to predict the localization result for. This timestamp must be greater than the timestamp in `old`.

Returns: DW_INVALID_ARGUMENTS - if given arguments are invalid
DW_SUCCESS

◆ dwLocalizationFusion_release()

DW_API_PUBLIC dwStatus dwLocalizationFusion_release ( dwLocalizationFusionHandle_t localizationFusion )

Releases the localization fusion module.

Parameters

[in] localizationFusion Handle to the localization fusion module being released.

Returns: DW_INVALID_HANDLE - if given handle is an invalid handle
DW_INVALID_ARGUMENTS - if given handle is NULL DW_SUCCESS

◆ dwLocalizationFusion_reset()

DW_API_PUBLIC dwStatus dwLocalizationFusion_reset ( dwLocalizationFusionHandle_t localizationFusion )

Reset localization fusion state to default values.

Parameters

[in] localizationFusion Handle to the localization fusion module.

Returns: DW_INVALID_HANDLE - if given handle is invalid
DW_SUCCESS

◆ dwLocalizationFusion_setMap()

DW_API_PUBLIC dwStatus dwLocalizationFusion_setMap	(	dwConstMapHandle_t	map,
		dwLocalizationFusionHandle_t	localizationFusion
	)

Sets a new HD Map to localize to.

The new map is assumed to have consistent road segment IDs with the old map.

Parameters

[in]	map	Handle to the maps module used for map data.
[in]	localizationFusion	Handle to the localization fusion module.

Returns: DW_INVALID_HANDLE - if given handle is invalid
DW_SUCCESS

Detailed Description

Macros

Typedefs

Functions

Macro Definition Documentation

◆ DW_LOCALIZATION_FUSION_MAX_INPUT_COUNT

Typedef Documentation

◆ dwLocalizationFusionHandle_t

Function Documentation

◆ dwLocalizationFusion_initialize()

◆ dwLocalizationFusion_localize()

◆ dwLocalizationFusion_predictLocalization()

◆ dwLocalizationFusion_release()

◆ dwLocalizationFusion_reset()

◆ dwLocalizationFusion_setMap()