pointcloudprocessing/docs/usecase1.md

Go to the documentation of this file.

# Copyright (c) 2019-2020, NVIDIA CORPORATION.  All rights reserved.

@page pointcloudprocessing_usecase1 Point Cloud Memory Management

@note SW Release Applicability: This tutorial is applicable to modules in both **NVIDIA DriveWorks** and **NVIDIA DRIVE Software** releases.

This tutorial demonstrates how point cloud processing creates and destroys CPU/CUDA memory.

Point cloud processing provides APIs to create either CPU or CUDA memory.

For example, specify a CUDA memory type:

```{.cpp}
dwPointCloud pointcloud;
pointcloud.type = DW_MEMORY_TYPE_CUDA; 
pointcloud.coordSystem = DW_POINTCLOUD_COORDINATE_SYSTEM_CARTESIAN;
```

Set .type = ::DW_MEMORY_TYPE_CPU if CPU memory is intended. Initialize `capacity` in `dwPointCloud` to indicate the maximum storage,

```{.cpp}
pointcloud.capacity = 20000; 
```

Create CUDA memory holding up to 20000 cloud of points:

```{.cpp}
dwPointCloud_createBuffer(&pointcloud);
```

The created memory holds points. Format of a point is specified with `dwPointCloudFormat` enum. .size will be zero upon successful memory creation. As it indicates there is currently no active point in the memory. `dwPointCloud_createBuffer()` will set .organized to false. To understand the difference between .organized = true and .organized = false, see @ref pointcloudprocessing_usecase2

To destroy the allocated CUDA memory:

```{.cpp}
dwPointCloud_destroyBuffer(&pointcloud);
```

@note Point cloud buffers are owned by the application, user can waive the memory copy from the module.

For more details see @ref dwx_pointcloudprocessing_sample.