Detailed Description

Defines module to register/stitch multiple sets of point clouds.

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

Macros
#define	DW_POINTCLOUD_STITCHER_MAX_POINT_CLOUDS DW_BIND_SLOT_MAX_COUNT
	This defines the maximum number of point clouds anticipated to be stitched. More...

Typedefs
typedef struct dwPointCloudStitcherObject *	dwPointCloudStitcherHandle_t

Functions
DW_API_PUBLIC dwStatus	dwPointCloudStitcher_bindInput (dwBindSlot slot, const dwPointCloud pointCloud, const dwTransformation3f transform, dwPointCloudStitcherHandle_t obj)
	Binds input point cloud to the point cloud stitcher. More...

DW_API_PUBLIC dwStatus	dwPointCloudStitcher_bindOutput (dwPointCloud *points, dwPointCloudStitcherHandle_t obj)
	Binds output buffer to the point cloud stitcher. More...

DW_API_PUBLIC dwStatus	dwPointCloudStitcher_disableMotionCompensation (dwPointCloudStitcherHandle_t obj)
	Disables motion compensation for the stitched point cloud. More...

DW_API_PUBLIC dwStatus	dwPointCloudStitcher_enableMotionCompensation (dwTime_t timestamp, dwEgomotionConstHandle_t egomotion, dwPointCloudStitcherHandle_t obj)
	Enables motion compensation for the stitched point cloud. More...

DW_API_PUBLIC dwStatus	dwPointCloudStitcher_getCUDAStream (cudaStream_t *stream, dwPointCloudStitcherHandle_t obj)
	Gets CUDA stream of point cloud stitcher. More...

DW_API_PUBLIC dwStatus	dwPointCloudStitcher_initialize (dwPointCloudStitcherHandle_t *obj, dwContextHandle_t ctx)
	Initializes point cloud stitcher. More...

DW_API_PUBLIC dwStatus	dwPointCloudStitcher_process (dwPointCloudStitcherHandle_t obj)
	Transforms all the input point clouds to a common coordinate. More...

DW_API_PUBLIC dwStatus	dwPointCloudStitcher_release (dwPointCloudStitcherHandle_t obj)
	Releases point cloud stitcher. More...

DW_API_PUBLIC dwStatus	dwPointCloudStitcher_reset (dwPointCloudStitcherHandle_t obj)
	Resets point cloud stitcher. More...

DW_API_PUBLIC dwStatus	dwPointCloudStitcher_setCUDAStream (const cudaStream_t stream, dwPointCloudStitcherHandle_t obj)
	Sets CUDA stream of point cloud stitcher. More...

DW_API_PUBLIC dwStatus	dwPointCloudStitcher_setGlobalTransformation (const dwTransformation3f *tx, dwPointCloudStitcherHandle_t obj)
	Sets global transformation for the stitched point cloud. More...

Macro Definition Documentation

◆ DW_POINTCLOUD_STITCHER_MAX_POINT_CLOUDS

#define DW_POINTCLOUD_STITCHER_MAX_POINT_CLOUDS DW_BIND_SLOT_MAX_COUNT

This defines the maximum number of point clouds anticipated to be stitched.

Definition at line 64 of file PointCloudStitcher.h.

Typedef Documentation

◆ dwPointCloudStitcherHandle_t

typedef struct dwPointCloudStitcherObject* dwPointCloudStitcherHandle_t

Definition at line 66 of file PointCloudStitcher.h.

Function Documentation

◆ dwPointCloudStitcher_bindInput()

DW_API_PUBLIC dwStatus dwPointCloudStitcher_bindInput	(	dwBindSlot	slot,
		const dwPointCloud *	pointCloud,
		const dwTransformation3f *	transform,
		dwPointCloudStitcherHandle_t	obj
	)

Binds input point cloud to the point cloud stitcher.

Parameters

[in]	slot	destination slot
[in]	pointCloud	Pointer to the input point cloud
[in]	transform	Pointer to point cloud transformation
[in]	obj	Handle to the point cloud stitcher

Returns: DW_SUCCESS
DW_INVALID_HANDLE - provided handle to point clou stitcher is null
DW_OUT_OF_BOUNDS - slot index is out of bounds

◆ dwPointCloudStitcher_bindOutput()

DW_API_PUBLIC dwStatus dwPointCloudStitcher_bindOutput	(	dwPointCloud *	points,
		dwPointCloudStitcherHandle_t	obj
	)

Binds output buffer to the point cloud stitcher.

Parameters

[out]	points	Pointer to output buffer which stores the stitched/motion compensated point cloud
[in]	obj	Handle to the point cloud stitcher

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

◆ dwPointCloudStitcher_disableMotionCompensation()

DW_API_PUBLIC dwStatus dwPointCloudStitcher_disableMotionCompensation ( dwPointCloudStitcherHandle_t obj )

Disables motion compensation for the stitched point cloud.

Parameters

[in] obj Handle to point cloud stitcher

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

◆ dwPointCloudStitcher_enableMotionCompensation()

DW_API_PUBLIC dwStatus dwPointCloudStitcher_enableMotionCompensation	(	dwTime_t	timestamp,
		dwEgomotionConstHandle_t	egomotion,
		dwPointCloudStitcherHandle_t	obj
	)

Enables motion compensation for the stitched point cloud.

Parameters

[in]	timestamp	The reference timestamp to align the point clouds with
[in]	egomotion	Handle to egomotion
[in]	obj	Handle to point cloud stitcher

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT - if provided egomotion or stitcher handle is null

◆ dwPointCloudStitcher_getCUDAStream()

DW_API_PUBLIC dwStatus dwPointCloudStitcher_getCUDAStream	(	cudaStream_t *	stream,
		dwPointCloudStitcherHandle_t	obj
	)

Gets CUDA stream of point cloud stitcher.

Parameters

[out]	stream	Pointer to CUDA stream handle
[in]	obj	Handle to point cloud stitcher

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

◆ dwPointCloudStitcher_initialize()

DW_API_PUBLIC dwStatus dwPointCloudStitcher_initialize	(	dwPointCloudStitcherHandle_t *	obj,
		dwContextHandle_t	ctx
	)

Initializes point cloud stitcher.

Parameters

[out]	obj	Pointer to point cloud stitcher handle
[in]	ctx	Handle to the context

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

◆ dwPointCloudStitcher_process()

DW_API_PUBLIC dwStatus dwPointCloudStitcher_process ( dwPointCloudStitcherHandle_t obj )

Transforms all the input point clouds to a common coordinate.

Parameters

[in] obj Handle to the point cloud sitcher

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT - the memory type of input/output does not match
DW_CALL_NOT_ALLOWED - input list is not bound
DW_OUT_OF_BOUNDS - the number of input points exceeds the output buffer capacity

◆ dwPointCloudStitcher_release()

DW_API_PUBLIC dwStatus dwPointCloudStitcher_release ( dwPointCloudStitcherHandle_t obj )

Releases point cloud stitcher.

Parameters

[in] obj Handle to point cloud stitcher

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

◆ dwPointCloudStitcher_reset()

DW_API_PUBLIC dwStatus dwPointCloudStitcher_reset ( dwPointCloudStitcherHandle_t obj )

Resets point cloud stitcher.

Parameters

[in] obj Handle to point cloud stitcher

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

◆ dwPointCloudStitcher_setCUDAStream()

DW_API_PUBLIC dwStatus dwPointCloudStitcher_setCUDAStream	(	const cudaStream_t	stream,
		dwPointCloudStitcherHandle_t	obj
	)

Sets CUDA stream of point cloud stitcher.

Parameters

[in]	stream	Handle to CUDA stream
[in]	obj	Handle to point cloud stitcher

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

◆ dwPointCloudStitcher_setGlobalTransformation()

DW_API_PUBLIC dwStatus dwPointCloudStitcher_setGlobalTransformation	(	const dwTransformation3f *	tx,
		dwPointCloudStitcherHandle_t	obj
	)

Sets global transformation for the stitched point cloud.

Parameters

[in]	tx	Pointer to the transformation that transforms the stitched point cloud to one common coordinate system. Parameter is optional, can be nullptr. In this case identity transformation will be used.
[in]	obj	Handle to point cloud stitcher

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

Detailed Description

Macros

Typedefs

Functions

Macro Definition Documentation

◆ DW_POINTCLOUD_STITCHER_MAX_POINT_CLOUDS

Typedef Documentation

◆ dwPointCloudStitcherHandle_t

Function Documentation

◆ dwPointCloudStitcher_bindInput()

◆ dwPointCloudStitcher_bindOutput()

◆ dwPointCloudStitcher_disableMotionCompensation()

◆ dwPointCloudStitcher_enableMotionCompensation()

◆ dwPointCloudStitcher_getCUDAStream()

◆ dwPointCloudStitcher_initialize()

◆ dwPointCloudStitcher_process()

◆ dwPointCloudStitcher_release()

◆ dwPointCloudStitcher_reset()

◆ dwPointCloudStitcher_setCUDAStream()

◆ dwPointCloudStitcher_setGlobalTransformation()