Detailed Description

Localization module for HD maps.

The localization module uses sensor data from camera, radar, or lidar to localize the vehicle to a precise pose on an HD map.

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

Data Structures
struct	dwLocalizationCameraParameters
	Parameters for initializing the camera localization module. More...

struct	dwLocalizationRadarParameters
	Parameters for initializing the radar / lidar localization module. More...

struct	dwLocalizationResult
	Output structure obtained from any of the localization modules (camera, radar, lidar, fusion). More...

Modules
	Localization Fusion Interface
	Localization fusion module for HD maps.

Macros
#define	DW_LOCALIZATION_MAX_CAMERA_COUNT 8

Typedefs
typedef struct dwLocalizationObject *	dwLocalizationHandle_t
	Handle to a localization module object. More...

typedef dwLocalizationRadarParameters	dwLocalizationLidarParameters

Enumerations
enum	dwLocalizationResultIndicator { DW_LOCALIZATION_RESULT_INDICATOR_NORMAL = 0, DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_DATA0 = (1u << 0), DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_DATA1 = (1u << 1), DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_DATA2 = (1u << 2), DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_DATA3 = (1u << 3), DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_DATA4 = (1u << 4), DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_DATA5 = (1u << 5), DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_DATA6 = (1u << 6), DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_DATA7 = (1u << 7), DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_CALIBRATION0 = (1u << 8), DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_CALIBRATION1 = (1u << 9), DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_CALIBRATION2 = (1u << 10), DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_CALIBRATION3 = (1u << 11), DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_CALIBRATION4 = (1u << 12), DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_CALIBRATION5 = (1u << 13), DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_CALIBRATION6 = (1u << 14), DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_CALIBRATION7 = (1u << 15), DW_LOCALIZATION_RESULT_INDICATOR_BAD_GLOBAL_EGOMOTION = (1u << 16), DW_LOCALIZATION_RESULT_INDICATOR_BAD_RELATIVE_EGOMOTION = (1u << 17), DW_LOCALIZATION_RESULT_INDICATOR_BAD_MAP_CORE = (1u << 18), DW_LOCALIZATION_RESULT_INDICATOR_BAD_MAP_SENSOR_LAYER = (1u << 19) }
	Defines all the possible localization result indicators, set via bits. More...

Functions
DW_API_PUBLIC dwStatus	dwLocalization_cameraInitialize (dwLocalizationHandle_t localization, dwConstMapHandle_t map, const dwLocalizationCameraParameters params, dwContextHandle_t context)
	Create a new camera localization module. More...

DW_API_PUBLIC dwStatus	dwLocalization_cameraInitParamsFromRig (dwLocalizationCameraParameters *params, dwConstRigHandle_t rig, uint32_t numCameras, const uint32_t cameraIndices[], const dwCameraModelHandle_t cameraHandles[])
	Initializes a camera localization parameters struct for an existing rig. More...

DW_API_PUBLIC dwStatus	dwLocalization_cameraLocalize (dwLocalizationResult localizationResult, const dwLaneDetection laneDetectionsPerCamera[], const dwLandmarkDetection poleDetectionsPerCamera[], const dwObjectArray signAndLightDetectionsPerCamera[], const dwGlobalEgomotionResult globalEgoResult, const dwGlobalEgomotionUncertainty globalEgoUncertainty, const dwTransformation3f currToPrev, const dwEgomotionRelativeUncertainty *currToPrevUncertainty, dwTime_t timestamp, dwLocalizationHandle_t localization)
	Localize the rig based on the latest measurements with camera. More...

DW_API_PUBLIC dwStatus	dwLocalization_cameraSetExtrinsics (uint32_t cameraIndex, const dwTransformation3f *cameraToRig, dwLocalizationHandle_t localization)
	Sets the camera-to-rig extrinsic transformation for a specified camera. More...

DW_API_PUBLIC dwStatus	dwLocalization_getCUDAStream (cudaStream_t *stream, dwLocalizationHandle_t localization)
	Gets the CUDA stream used by all landmark detections. More...

DW_API_PUBLIC dwStatus	dwLocalization_lidarInitialize (dwLocalizationHandle_t localization, dwConstMapHandle_t map, dwMapProviderHandle_t mapProvider, const dwMapsContentLayerBuffer contentLayers, const dwLocalizationLidarParameters *params, dwContextHandle_t context)
	Create a new lidar localization module. More...

DW_API_PUBLIC dwStatus	dwLocalization_lidarLocalize (dwLocalizationResult localizationResult, const dwPointCloud lidarPoints, const dwGlobalEgomotionResult globalEgoResult, const dwGlobalEgomotionUncertainty globalEgoUncertainty, const dwTransformation3f currToPrev, const dwEgomotionRelativeUncertainty currToPrevUncertainty, dwTime_t timestamp, dwLocalizationHandle_t localization)
	Localize the rig based on the latest measurements with lidar. More...

DW_API_PUBLIC dwStatus	dwLocalization_radarInitialize (dwLocalizationHandle_t localization, dwConstMapHandle_t map, dwMapProviderHandle_t mapProvider, const dwMapsContentLayerBuffer contentLayers, const dwLocalizationRadarParameters *params, dwContextHandle_t context)
	Create a new radar localization module. More...

DW_API_PUBLIC dwStatus	dwLocalization_radarLocalize (dwLocalizationResult localizationResult, const dwVector4f radarPoints, size_t numPoints, const dwGlobalEgomotionResult globalEgoResult, const dwGlobalEgomotionUncertainty globalEgoUncertainty, const dwTransformation3f currToPrev, const dwEgomotionRelativeUncertainty currToPrevUncertainty, dwTime_t timestamp, dwLocalizationHandle_t localization)
	Localize the rig based on the latest measurements with radar. More...

DW_API_PUBLIC dwStatus	dwLocalization_release (dwLocalizationHandle_t localization)
	Releases the localization module. More...

DW_API_PUBLIC dwStatus	dwLocalization_reset (dwLocalizationHandle_t localization)
	Resets all internal state of the localization module; does not modify properties specified in each initialization function. More...

DW_API_PUBLIC dwStatus	dwLocalization_setCUDAStream (cudaStream_t stream, dwLocalizationHandle_t localization)
	Sets the CUDA stream for CUDA related operations. More...

DW_API_PUBLIC dwStatus	dwLocalization_setMap (dwConstMapHandle_t map, dwLocalizationHandle_t localization)
	Sets a new HD Map to localize to. More...

Data Structure Documentation

◆ dwLocalizationCameraParameters

struct dwLocalizationCameraParameters

Data Fields
dwCameraModelHandle_t	cameraModels[DW_LOCALIZATION_MAX_CAMERA_COUNT]	The camera model of each camera. Note: internally the localization routine will clone these handles, hence the handles can be reused right after the initialization
dwTransformation3f	camerasToRig[DW_LOCALIZATION_MAX_CAMERA_COUNT]	The extrinsic transformations of each camera to the rig.
uint32_t	numCameras	The number of cameras to use for localization.

◆ dwLocalizationRadarParameters

struct dwLocalizationRadarParameters

Data Fields
bool	asyncLoading	Load maps in background thread.
uint32_t	pointSkip	Optional additional point filtering.

◆ dwLocalizationResult

struct dwLocalizationResult

Data Fields
float32_t	confidence	A [0, 1] floating point number that indicates the confidence of the localization result. Note that this feature is not available yet in this release and is set to 1.
dwQuaterniond	globalOrientation	Global orientation (quaternion) in the local ENU frame set at globalPosition. When isMapAvailable is true, globalOrientation is computed by combining relativeOrientation and the rotation from the local ENU frame set at the road segment origin to the local ENU frame set at globalPosition. Otherwise, globalOrientation corresponds to the passed-in global egomotion orientation.
dwMapsGeoPoint	globalPosition	Global WGS84 position (LLA). When isMapAvailable is true, globalPosition is computed by combining relativePosition and the ENU origin of the road segment. Otherwise, globalPosition corresponds to the passed-in global egomotion position.
dwLocalizationResultIndicator	indicator	Localization indicator indicates whether there are any problems. Note that this feature is not available yet in this release and set to DW_LOCALIZATION_RESULT_INDICATOR_NORMAL.
bool	isMapAvailable	A boolean flag indicating if map is available in the surrounding of the vehicle. If true, then roadSegmentId, relativePosition, and relativeOrientation are valid. Otherwise, these three fields are invalid.
dwMatrix3d	orientationUncertainty	A 3x3 covariance matrix indicating orientation uncertainty with respect to the rig frame itself (order: rotation around x, y, z axes) [rad].
dwMatrix3d	positionUncertainty	A 3x3 covariance matrix indicating position uncertainty with respect to the rig frame itself (order: x,y,z) [m].
dwQuaterniond	relativeOrientation	Relative orientation in a local ENU frame set at the road segment origin.
dwVector3f	relativePosition	Relative position in a local ENU frame set at the road segment origin.
dwMapsRoadSegmentId	roadSegmentId	ID of the road segment that relative pose is with respect to.
dwTime_t	timestamp	Timestamp that localization was run on.

Macro Definition Documentation

◆ DW_LOCALIZATION_MAX_CAMERA_COUNT

#define DW_LOCALIZATION_MAX_CAMERA_COUNT 8

Definition at line 150 of file Localization.h.

Typedef Documentation

◆ dwLocalizationHandle_t

typedef struct dwLocalizationObject* dwLocalizationHandle_t

Handle to a localization module object.

Definition at line 71 of file Localization.h.

◆ dwLocalizationLidarParameters

typedef dwLocalizationRadarParameters dwLocalizationLidarParameters

Definition at line 182 of file Localization.h.

Enumeration Type Documentation

◆ dwLocalizationResultIndicator

enum dwLocalizationResultIndicator

Defines all the possible localization result indicators, set via bits.

Enumerator
DW_LOCALIZATION_RESULT_INDICATOR_NORMAL
DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_DATA0
DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_DATA1
DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_DATA2
DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_DATA3
DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_DATA4
DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_DATA5
DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_DATA6
DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_DATA7
DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_CALIBRATION0
DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_CALIBRATION1
DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_CALIBRATION2
DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_CALIBRATION3
DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_CALIBRATION4
DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_CALIBRATION5
DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_CALIBRATION6
DW_LOCALIZATION_RESULT_INDICATOR_BAD_SENSOR_CALIBRATION7
DW_LOCALIZATION_RESULT_INDICATOR_BAD_GLOBAL_EGOMOTION
DW_LOCALIZATION_RESULT_INDICATOR_BAD_RELATIVE_EGOMOTION
DW_LOCALIZATION_RESULT_INDICATOR_BAD_MAP_CORE
DW_LOCALIZATION_RESULT_INDICATOR_BAD_MAP_SENSOR_LAYER

Definition at line 76 of file Localization.h.

Function Documentation

◆ dwLocalization_cameraInitialize()

DW_API_PUBLIC dwStatus dwLocalization_cameraInitialize	(	dwLocalizationHandle_t *	localization,
		dwConstMapHandle_t	map,
		const dwLocalizationCameraParameters *	params,
		dwContextHandle_t	context
	)

Create a new camera localization module.

Parameters

[out]	localization	Handle to the camera localization module being initialized.
[in]	map	Handle to the maps module used for map data.
[in]	params	Localization initialization parameters.
[in]	context	Handle to the current driveworks context.

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

◆ dwLocalization_cameraInitParamsFromRig()

DW_API_PUBLIC dwStatus dwLocalization_cameraInitParamsFromRig	(	dwLocalizationCameraParameters *	params,
		dwConstRigHandle_t	rig,
		uint32_t	numCameras,
		const uint32_t	cameraIndices[],
		const dwCameraModelHandle_t	cameraHandles[]
	)

Initializes a camera localization parameters struct for an existing rig.

Parameters

[out]	params	Pointer to the camera localization parameters struct being initialized.
[in]	rig	Handle to a vehicle rig configuration instance.
[in]	numCameras	The number of cameras to use for localization.
[in]	cameraIndices	The indices of the cameras to use from the vehicle rig handle.
[in]	cameraHandles	The camera handles initialized from the vehicle rig handle.

Returns: DW_INVALID_ARGUMENT - if given arguments are invalid
DW_INVALID_HANDLE - if a given handle is invalid
DW_NOT_SUPPORTED - if given camera models are not supported
DW_SUCCESS

◆ dwLocalization_cameraLocalize()

DW_API_PUBLIC dwStatus dwLocalization_cameraLocalize	(	dwLocalizationResult *	localizationResult,
		const dwLaneDetection	laneDetectionsPerCamera[],
		const dwLandmarkDetection	poleDetectionsPerCamera[],
		const dwObjectArray	signAndLightDetectionsPerCamera[],
		const dwGlobalEgomotionResult *	globalEgoResult,
		const dwGlobalEgomotionUncertainty *	globalEgoUncertainty,
		const dwTransformation3f *	currToPrev,
		const dwEgomotionRelativeUncertainty *	currToPrevUncertainty,
		dwTime_t	timestamp,
		dwLocalizationHandle_t	localization
	)

Localize the rig based on the latest measurements with camera.

Parameters

[out]	localizationResult	Localization estimation, including the timestamp, the absolute position in wgs84, orientation to ENU coordinate at the absoulte position of the rig, ID of the closest road segment, relative rotation and translation to the origin of the closest road segment, and a flag indicating validity of the relative pose.
[in]	laneDetectionsPerCamera	Per-camera detected lanes at the current timestamp. The size of the array is assumed to be equal to the number of the cameras that the module was initialized with.
[in]	poleDetectionsPerCamera	Per-camera detected poles at the current timestamp (can be null if none exists). The size of the array is assumed to be equal to the number of the cameras that the module was initialized with.
[in]	signAndLightDetectionsPerCamera	Per-camera detected traffic lights or traffic signs in the current timestamp (can be null if none exists). The size of the array is assumed to be equal to the number of the cameras that the module was initialized with.
[in]	globalEgoResult	Global rig position in LLA and orientation (x, y, z, w) mapping from the rig to ENU at global rig position the rig, both at the same timestamp as the detections. Note that both globalEgoResult.validPosition and globalEgoResult.validOrientation have to be true for localization to run successfully for at least once. Otherwise this function will return DW_NOT_AVAILABLE.
[in]	globalEgoUncertainty	Uncertainty of global position, represented by a 3x3 covariance in ENU in [m], and uncertainty of global orientation, represented by a 3x3 covariance of the equivalent euler angles (order: roll, pitch, yaw) in [rad].
[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 dwLocalization_cameraLocalize was called. If this is the first time calling dwLocalization_cameraLocalize, the identity transformation is expected.
[in]	currToPrevUncertainty	The uncertainty of the relative transformation. If this is the first time calling dwLocalization_lidarLocalize, any arbitrary uncertainty is accepted.
[in]	timestamp	Timestamp for the camera frame that landmark detections are from.
[in]	localization	Handle to the localization module.

Returns: DW_INVALID_ARGUMENT - if given arguments are invalid
DW_INVALID_HANDLE - if given handle is invalid
DW_FAILURE - if the measurement could not be used or on any other failure, see logs
DW_SUCCESS

◆ dwLocalization_cameraSetExtrinsics()

DW_API_PUBLIC dwStatus dwLocalization_cameraSetExtrinsics	(	uint32_t	cameraIndex,
		const dwTransformation3f *	cameraToRig,
		dwLocalizationHandle_t	localization
	)

Sets the camera-to-rig extrinsic transformation for a specified camera.

This only needs to be called if transformations specified in dwLocalizationCameraParameters::camerasToRig need be modified after initialization of the localization module.

Parameters

[in]	cameraIndex	The index of the camera to set the extrinsic transformation for. This index must correspond with the camera index inside the dwLocalizationCameraParameters used to initialize the module.
[in]	cameraToRig	Transformation from the specified camera's coordinate system to the vehicle rig's coordinate system.
[in]	localization	A handle to the localization module.

Returns: DW_INVALID_ARGUMENT - if given arguments are invalid.
DW_INVALID_HANDLE - If a given handle is invalid.
DW_SUCCESS

◆ dwLocalization_getCUDAStream()

DW_API_PUBLIC dwStatus dwLocalization_getCUDAStream	(	cudaStream_t *	stream,
		dwLocalizationHandle_t	localization
	)

Gets the CUDA stream used by all landmark detections.

Parameters

[out]	stream	The CUDA stream currently used.
[in]	localization	A handle to the localization module.

Returns: DW_INVALID_HANDLE - If the given handle is invalid.
DW_SUCCESS

◆ dwLocalization_lidarInitialize()

DW_API_PUBLIC dwStatus dwLocalization_lidarInitialize	(	dwLocalizationHandle_t *	localization,
		dwConstMapHandle_t	map,
		dwMapProviderHandle_t	mapProvider,
		const dwMapsContentLayerBuffer *	contentLayers,
		const dwLocalizationLidarParameters *	params,
		dwContextHandle_t	context
	)

Create a new lidar localization module.

Parameters

[out]	localization	Handle to the localization module being initialized.
[in]	map	Handle to the maps module used for map data.
[in]	mapProvider	Handle to map provider for image data.
[in]	contentLayers	Requested maps image layers for lidar localization.
[in]	params	Lidar localization initialization parameters.
[in]	context	Handle to the current driveworks context.

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

◆ dwLocalization_lidarLocalize()

DW_API_PUBLIC dwStatus dwLocalization_lidarLocalize	(	dwLocalizationResult *	localizationResult,
		const dwPointCloud *	lidarPoints,
		const dwGlobalEgomotionResult *	globalEgoResult,
		const dwGlobalEgomotionUncertainty *	globalEgoUncertainty,
		const dwTransformation3f *	currToPrev,
		const dwEgomotionRelativeUncertainty *	currToPrevUncertainty,
		dwTime_t	timestamp,
		dwLocalizationHandle_t	localization
	)

Localize the rig based on the latest measurements with lidar.

Parameters

[out]	localizationResult	Localization estimation including the absolute position in wgs84, orientation to ENU coordinate at the absolute position of the rig, id to the closest road segment, relative rotation and translation to the origin of the closest road segment, and a flag indicating validity of relative pose.
[in]	lidarPoints	Buffer of lidar points with (x, y, z, intensity) each. The points should be allocated on the CPU.
[in]	globalEgoResult	Global rig position in LLA and orientation (x, y, z, w) mapping from the rig to ENU at global rig position the rig, both at the same timestamp as timestamp. Note that both globalEgoResult.validPosition and globalEgoResult.validOrientation have to be true for localization to run successfully for at least once. Otherwise this function will return DW_NOT_AVAILABLE.
[in]	globalEgoUncertainty	Uncertainty of global position, represented by a 3x3 covariance in ENU in [m], and uncertainty of global orientation, represented by a 3x3 covariance of the equivalent euler angles (order: roll, pitch, yaw) in [rad].
[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 dwLocalization_lidarLocalize was called. If this is the first time calling dwLocalization_lidarLocalize, the identity transformation is expected.
[in]	currToPrevUncertainty	The uncertainty of the relative transformation. If this is the first time calling dwLocalization_lidarLocalize, any arbitrary uncertainty is accepted.
[in]	timestamp	Timestamp of points in lidarPoints buffer.
[in]	localization	Handle to the localization module.

Returns: DW_INVALID_ARGUMENT - if given arguments are invalid
DW_INVALID_HANDLE - if given handle is invalid
DW_CALL_NOT_ALLOWED - if maps image is currently locked
DW_FAILURE - if module could not localize
DW_SUCCESS

◆ dwLocalization_radarInitialize()

DW_API_PUBLIC dwStatus dwLocalization_radarInitialize	(	dwLocalizationHandle_t *	localization,
		dwConstMapHandle_t	map,
		dwMapProviderHandle_t	mapProvider,
		const dwMapsContentLayerBuffer *	contentLayers,
		const dwLocalizationRadarParameters *	params,
		dwContextHandle_t	context
	)

Create a new radar localization module.

Parameters

[out]	localization	Handle to the localization module being initialized.
[in]	map	Handle to the maps module used for map data.
[in]	mapProvider	Handle to map provider for image data.
[in]	contentLayers	Requested maps image layers for radar localization.
[in]	params	Radar localization initialization parameters.
[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

◆ dwLocalization_radarLocalize()

DW_API_PUBLIC dwStatus dwLocalization_radarLocalize	(	dwLocalizationResult *	localizationResult,
		const dwVector4f *	radarPoints,
		size_t	numPoints,
		const dwGlobalEgomotionResult *	globalEgoResult,
		const dwGlobalEgomotionUncertainty *	globalEgoUncertainty,
		const dwTransformation3f *	currToPrev,
		const dwEgomotionRelativeUncertainty *	currToPrevUncertainty,
		dwTime_t	timestamp,
		dwLocalizationHandle_t	localization
	)

Localize the rig based on the latest measurements with radar.

Parameters

[out]	localizationResult	Localization estimation including the absolute position in wgs84, orientation to ENU coordinate at the absolute position of the rig, id to the closest road segment, relative rotation and translation to the origin of the closest road segment, and a flag indicating validity of relative pose.
[in]	radarPoints	Buffer of radar points with (x, y, z, rcs) each.
[in]	numPoints	Number of radar points in buffer.
[in]	globalEgoResult	Global rig position in LLA and orientation (x, y, z, w) mapping from the rig to ENU at global rig position the rig, both at the same timestamp as timestamp. Note that both globalEgoResult.validPosition and globalEgoResult.validOrientation have to be true for localization to run successfully for at least once. Otherwise this function will return DW_NOT_AVAILABLE.
[in]	globalEgoUncertainty	Uncertainty of global position, represented by a 3x3 covariance in ENU in [m], and uncertainty of global orientation, represented by a 3x3 covariance of the equivalent euler angles (order: roll, pitch, yaw) in [rad].
[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 dwLocalization_radarLocalize was called. If this is the first time calling dwLocalization_radarLocalize, the identity transformation is expected.
[in]	currToPrevUncertainty	The uncertainty of the relative transformation. If this is the first time calling dwLocalization_radarLocalize, any arbitrary uncertainty is accepted.
[in]	timestamp	Timestamp of points in radarPoints buffer.
[in]	localization	Handle to the localization module.

Returns: DW_INVALID_ARGUMENT - if given arguments are invalid
DW_INVALID_HANDLE - if given handle is invalid
DW_CALL_NOT_ALLOWED - if maps image is currently locked
DW_FAILURE - if module could not localize
DW_SUCCESS

◆ dwLocalization_release()

DW_API_PUBLIC dwStatus dwLocalization_release ( dwLocalizationHandle_t localization )

Releases the localization module.

Parameters

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

Returns: DW_INVALID_HANDLE - if given handle is invalid
DW_SUCCESS

◆ dwLocalization_reset()

DW_API_PUBLIC dwStatus dwLocalization_reset ( dwLocalizationHandle_t localization )

Resets all internal state of the localization module; does not modify properties specified in each initialization function.

Parameters

[in] localization Handle to the localization module being reset.

Returns: DW_INVALID_HANDLE - if the provided localization handle is invalid.
DW_SUCCESS

◆ dwLocalization_setCUDAStream()

DW_API_PUBLIC dwStatus dwLocalization_setCUDAStream	(	cudaStream_t	stream,
		dwLocalizationHandle_t	localization
	)

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 default CUDA stream 0.
[in]	localization	A handle to the localization module for which to set CUDA stream.

Returns: DW_INVALID_HANDLE - If the given handle is invalid.
DW_SUCCESS

◆ dwLocalization_setMap()

DW_API_PUBLIC dwStatus dwLocalization_setMap	(	dwConstMapHandle_t	map,
		dwLocalizationHandle_t	localization
	)

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]	localization	Handle to the localization module.

Returns: DW_INVALID_HANDLE - if given handle is invalid
DW_SUCCESS

Detailed Description

Data Structures

Modules

Macros

Typedefs

Enumerations

Functions

Data Structure Documentation

◆ dwLocalizationCameraParameters

◆ dwLocalizationRadarParameters

◆ dwLocalizationResult

Macro Definition Documentation

◆ DW_LOCALIZATION_MAX_CAMERA_COUNT

Typedef Documentation

◆ dwLocalizationHandle_t

◆ dwLocalizationLidarParameters

Enumeration Type Documentation

◆ dwLocalizationResultIndicator

Function Documentation

◆ dwLocalization_cameraInitialize()

◆ dwLocalization_cameraInitParamsFromRig()

◆ dwLocalization_cameraLocalize()

◆ dwLocalization_cameraSetExtrinsics()

◆ dwLocalization_getCUDAStream()

◆ dwLocalization_lidarInitialize()

◆ dwLocalization_lidarLocalize()

◆ dwLocalization_radarInitialize()

◆ dwLocalization_radarLocalize()

◆ dwLocalization_release()

◆ dwLocalization_reset()

◆ dwLocalization_setCUDAStream()

◆ dwLocalization_setMap()