Detailed Description

Defines the RadarLandmarkEngine methods.

Data Structures
struct	dwRadarLandmarkEngineParam
	Defines the parameter structure for Radar Landmark Engine. More...

Typedefs
typedef struct dwRadarLandmarkEngineObject *	dwRadarLandmarkEngineHandle_t
	Defines the Radar Landmark Engine handle structure. More...

Functions
dwStatus	dwRadarLandmarkEngine_addRadarScan (uint32_t radarId, const dwRadarScan *radarScan, dwRadarLandmarkEngineHandle_t handle)
	Get accumulated radar frame. More...

dwStatus	dwRadarLandmarkEngine_getDefaultParameters (dwRadarLandmarkEngineParam *params)
	Set default parameters for radar landmark engine. More...

dwStatus	dwRadarLandmarkEngine_getLatestScanTime (dwTime_t *latestScanTime, dwRadarLandmarkEngineHandle_t handle)
	Get the latest scan's timestamp. More...

dwStatus	dwRadarLandmarkEngine_getRadarPoints (dwVector4f radarPoints, uint32_t numPoints, dwTime_t startTime, dwTime_t endTime, dwTime_t motionCompensationTime, dwRadarLandmarkEngineHandle_t handle)
	Get latest radar points. More...

dwStatus	dwRadarLandmarkEngine_getRadarPointsMaxSize (uint32_t *maxNumPoints, dwRadarLandmarkEngineHandle_t handle)
	Get default radar landmark engine parameters. More...

dwStatus	dwRadarLandmarkEngine_getRadarScanPointsMaxSize (uint32_t *maxNumPoints, dwRadarLandmarkEngineHandle_t handle)
	Get default radar landmark engine parameters. More...

dwStatus	dwRadarLandmarkEngine_getRadarScansMaxSize (uint32_t *maxNumScans, dwRadarLandmarkEngineHandle_t handle)
	Get default radar landmark engine parameters. More...

dwStatus	dwRadarLandmarkEngine_initialize (dwRadarLandmarkEngineHandle_t handle, dwContextHandle_t contextHandle, dwEgomotionConstHandle_t imuEgomotionHandle, dwRadarProperties const radarProperties, dwTransformation3f const radarToRig, uint32_t numRadarSensors, const dwRadarLandmarkEngineParam params)
	Initialize radar landmark engine. More...

dwStatus	dwRadarLandmarkEngine_release (dwRadarLandmarkEngineHandle_t handle)
	Release radar landmark engine handle. More...

dwStatus	dwRadarLandmarkEngine_reset (dwRadarLandmarkEngineHandle_t handle)
	Reset radar landmark engine buffers. More...

dwStatus	dwRadarLandmarkEngine_setRadarExtrinsics (uint32_t radarId, const dwTransformation3f *radarToRig, dwRadarLandmarkEngineHandle_t handle)
	Set the radar-to-rig extrinsic transformation for the specified radar. More...

Data Structure Documentation

◆ dwRadarLandmarkEngineParam

struct dwRadarLandmarkEngineParam

Data Fields
uint32_t	bufferDuration_us	time span of buffered radar detections
float32_t	clampPointRCS_dB	clamp detections above this value
bool	filterByDynamicState	filter out non-stationary detections using stationaryDetectionThreshold_mps
bool	filterByRCS	filter out detections based on their RCS using minPointRCS_dB and clampPoinRCS_dB
bool	filterByVehicleVelocity	filter out scans captured when ego-car is approx. stationary using minVehicleVelocity_mps
float32_t	minPointRCS_dB	filter out detections below this value
float32_t	minVehicleVelocity_mps	filter out scans when ego-car velocity is below this value
uint32_t	outOfOrderGracePeriod_us	grace period for accepting out of order radar scans
float32_t	stationaryDetectionThreshold_mps	filter out detections whose Doppler is above this value
bool	useLongRangeScans	use long range radar scans

Typedef Documentation

◆ dwRadarLandmarkEngineHandle_t

typedef struct dwRadarLandmarkEngineObject* dwRadarLandmarkEngineHandle_t

Defines the Radar Landmark Engine handle structure.

Definition at line 61 of file RadarLandmarkEngine.h.

Function Documentation

◆ dwRadarLandmarkEngine_addRadarScan()

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

Get accumulated radar frame.

Parameters

[in]	radarId	- radar index scan was received from
[in]	radarScan	- accumulated radar scan to return
[in]	handle	- radar landmark engine handle

Returns: DW_BAD_CAST - if the provided RadarLandmarkEngine or radarScan handle is invalid.
DW_INVALID_ARGUMENT - if the provided radar scan occurred chronologically behind previous scans
DW_SUCCESS

◆ dwRadarLandmarkEngine_getDefaultParameters()

dwStatus dwRadarLandmarkEngine_getDefaultParameters ( dwRadarLandmarkEngineParam * params )

Set default parameters for radar landmark engine.

Parameters

[out] params - pointer to a dwRadarLandmarkEngineParam structure to fill

Returns: DW_INVALID_ARGUMENT - if params is a null pointer
DW_SUCCESS

◆ dwRadarLandmarkEngine_getLatestScanTime()

dwStatus dwRadarLandmarkEngine_getLatestScanTime	(	dwTime_t *	latestScanTime,
		dwRadarLandmarkEngineHandle_t	handle
	)

Get the latest scan's timestamp.

Parameters

[out]	latestScanTime	- timestamp of the latest scan added to the engine
[in]	handle	- radar landmark engine handle

Returns: DW_BAD_CAST - if the provided RadarLandmarkEngine handle is invalid.
DW_SUCCESS

◆ dwRadarLandmarkEngine_getRadarPoints()

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

Get latest radar points.

Parameters

[out]	radarPoints	- pointer to storage where latest radar points should to be returned
[out]	numPoints	- pointer to number of points returned
[in]	startTime	- start timestamp of radar points
[in]	endTime	- end timestamp of radar points
[in]	motionCompensationTime	- motion compensation time of the returned radar points
[in]	handle	- radar landmark engine handle

Returns: DW_BAD_CAST - if the provided RadarLandmarkEngine or radarPoints handle is invalid.
DW_SUCCESS

◆ dwRadarLandmarkEngine_getRadarPointsMaxSize()

dwStatus dwRadarLandmarkEngine_getRadarPointsMaxSize	(	uint32_t *	maxNumPoints,
		dwRadarLandmarkEngineHandle_t	handle
	)

Get default radar landmark engine parameters.

Parameters

[in]	maxNumPoints	- pointer to maximum number of points in the buffer
[in]	handle	- radar landmark engine handle

Returns: DW_BAD_CAST - if the provided RadarLandmarkEngine handle is invalid.
DW_SUCCESS

◆ dwRadarLandmarkEngine_getRadarScanPointsMaxSize()

dwStatus dwRadarLandmarkEngine_getRadarScanPointsMaxSize	(	uint32_t *	maxNumPoints,
		dwRadarLandmarkEngineHandle_t	handle
	)

Get default radar landmark engine parameters.

Parameters

[in]	maxNumPoints	- pointer to maximum number of points per radar scan
[in]	handle	- radar landmark engine handle

Returns: DW_BAD_CAST - if the provided RadarLandmarkEngine handle is invalid.
DW_SUCCESS

◆ dwRadarLandmarkEngine_getRadarScansMaxSize()

dwStatus dwRadarLandmarkEngine_getRadarScansMaxSize	(	uint32_t *	maxNumScans,
		dwRadarLandmarkEngineHandle_t	handle
	)

Get default radar landmark engine parameters.

Parameters

[in]	maxNumScans	- pointer to maximum number of scans in the buffer
[in]	handle	- radar landmark engine handle

Returns: DW_BAD_CAST - if the provided RadarLandmarkEngine handle is invalid.
DW_SUCCESS

◆ dwRadarLandmarkEngine_initialize()

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

Initialize radar landmark engine.

Parameters

[in,out]	handle	- pointer to radar landmark engine handle to initialize
[in]	contextHandle	- driveworks context handle
[in]	imuEgomotionHandle	- driveworks egomotion model handle
[in]	radarProperties	- array of radar properties
[in]	radarToRig	- array of radar extrinsics
[in]	numRadarSensors	- number of radar sensors
[in]	params	- radar landmark engine parameters

Returns: DW_BAD_CAST - imuEgomotion handle is invalid.
DW_SUCCESS

◆ dwRadarLandmarkEngine_release()

dwStatus dwRadarLandmarkEngine_release ( dwRadarLandmarkEngineHandle_t handle )

Release radar landmark engine handle.

Parameters

[in] handle - radar landmark engine handle

Returns: DW_BAD_CAST - if the provided RadarLandmarkEngine handle is invalid.
DW_SUCCESS

◆ dwRadarLandmarkEngine_reset()

dwStatus dwRadarLandmarkEngine_reset ( dwRadarLandmarkEngineHandle_t handle )

Reset radar landmark engine buffers.

Parameters

[in] handle - radar landmark engine handle

Returns: DW_BAD_CAST - if the provided radar landmark engine handle is invalid.
DW_SUCCESS

◆ dwRadarLandmarkEngine_setRadarExtrinsics()

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

Set the radar-to-rig extrinsic transformation for the specified radar.

Parameters

[in]	radarId	- radar index the extrinsic transformation is set for
[in]	radarToRig	- transformation from the specified radar's coordinate system to the vehicle rig's coordinate system
[in]	handle	- radar landmark engine handle

Returns: DW_BAD_CAST - if the provided RadarLandmarkEngine or radarToRig handle is invalid.
ss DW_INVALID_ARGUMENT - if given arguments are invalid.
DW_SUCCESS

Detailed Description

Data Structures

Typedefs

Functions

Data Structure Documentation

◆ dwRadarLandmarkEngineParam

Typedef Documentation

◆ dwRadarLandmarkEngineHandle_t

Function Documentation

◆ dwRadarLandmarkEngine_addRadarScan()

◆ dwRadarLandmarkEngine_getDefaultParameters()

◆ dwRadarLandmarkEngine_getLatestScanTime()

◆ dwRadarLandmarkEngine_getRadarPoints()

◆ dwRadarLandmarkEngine_getRadarPointsMaxSize()

◆ dwRadarLandmarkEngine_getRadarScanPointsMaxSize()

◆ dwRadarLandmarkEngine_getRadarScansMaxSize()

◆ dwRadarLandmarkEngine_initialize()

◆ dwRadarLandmarkEngine_release()

◆ dwRadarLandmarkEngine_reset()

◆ dwRadarLandmarkEngine_setRadarExtrinsics()