Engine.h

Go to the documentation of this file.

// This code contains NVIDIA Confidential Information and is disclosed
// under the Mutual Non-Disclosure Agreement.
//
// Notice
// ALL NVIDIA DESIGN SPECIFICATIONS AND CODE ("MATERIALS") ARE PROVIDED "AS IS" NVIDIA MAKES
// NO REPRESENTATIONS, WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ANY IMPLIED WARRANTIES OF NONINFRINGEMENT,
// MERCHANTABILITY, OR FITNESS FOR A PARTICULAR PURPOSE.
//
// NVIDIA Corporation assumes no responsibility for the consequences of use of such
// information or for any infringement of patents or other rights of third parties that may
// result from its use. No license is granted by implication or otherwise under any patent
// or patent rights of NVIDIA Corporation. No third party distribution is allowed unless
// expressly authorized by NVIDIA.  Details are subject to change without notice.
// This code supersedes and replaces all information previously supplied.
// NVIDIA Corporation products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA Corporation.
//
// Copyright (c) 2016-2021 NVIDIA Corporation. All rights reserved.
//
// NVIDIA Corporation and its licensors retain all intellectual property and proprietary
// rights in and to this software and related documentation and any modifications thereto.
// Any use, reproduction, disclosure or distribution of this software and related
// documentation without an express license agreement from NVIDIA Corporation is
// strictly prohibited.
//

#ifndef DW_CALIBRATION_ENGINE_CALIBRATIONENGINE_H_
#define DW_CALIBRATION_ENGINE_CALIBRATIONENGINE_H_

#include <dw/core/context/Context.h>
#include <dw/rig/Rig.h>
#include <dw/egomotion/Egomotion.h>
#include <dw/egomotion/radar/DopplerMotionEstimator.h>
#include <dw/imageprocessing/features/FeatureList.h>

#include <dw/calibration/engine/common/CalibrationTypes.h>
#include <dw/calibration/engine/camera/CameraParams.h>
#include <dw/calibration/engine/imu/IMUParams.h>
#include <dw/calibration/engine/lidar/LidarParams.h>
#include <dw/calibration/engine/radar/RadarParams.h>
#include <dw/calibration/engine/stereo/StereoParams.h>
#include <dw/calibration/engine/vehicle/VehicleParams.h>

#ifdef __cplusplus
extern "C" {
#endif

DW_API_PUBLIC
dwStatus dwCalibrationEngine_initialize(dwCalibrationEngineHandle_t* engine,
                                        dwRigHandle_t rig,
                                        dwContextHandle_t context);

DW_API_PUBLIC
dwStatus dwCalibrationEngine_initializeCamera(dwCalibrationRoutineHandle_t* routine,
                                              uint32_t sensorIndex,
                                              const dwCalibrationCameraParams* params,
                                              dwEgomotionConstHandle_t egomotion,
                                              cudaStream_t stream,
                                              dwCalibrationEngineHandle_t engine);

DW_API_PUBLIC
dwStatus dwCalibrationEngine_initializeIMU(dwCalibrationRoutineHandle_t* routine,
                                           const uint32_t imuIndex,
                                           const uint32_t canIndex,
                                           const dwCalibrationIMUParams* params,
                                           dwCalibrationEngineHandle_t engine);

DW_API_PUBLIC
dwStatus dwCalibrationEngine_initializeLidar(dwCalibrationRoutineHandle_t* routine,
                                             uint32_t lidarIndex,
                                             uint32_t canIndex,
                                             const dwLidarProperties* lidarProperties,
                                             const dwCalibrationLidarParams* params,
                                             cudaStream_t stream,
                                             dwCalibrationEngineHandle_t engine);

DW_API_PUBLIC
dwStatus dwCalibrationEngine_initializeRadar(dwCalibrationRoutineHandle_t* routine,
                                             uint32_t radarIndex,
                                             uint32_t canIndex,
                                             const dwCalibrationRadarParams* params,
                                             dwCalibrationEngineHandle_t engine);

DW_API_PUBLIC
dwStatus dwCalibrationEngine_initializeStereo(dwCalibrationRoutineHandle_t* routine,
                                              uint32_t vehicleSensorIndex,
                                              uint32_t leftSensorIndex,
                                              uint32_t rightSensorIndex,
                                              const dwCalibrationStereoParams* params,
                                              cudaStream_t stream,
                                              dwCalibrationEngineHandle_t engine);

DW_API_PUBLIC
dwStatus dwCalibrationEngine_initializeVehicle(dwCalibrationRoutineHandle_t* routine,
                                               uint32_t sensorIndex,
                                               const dwCalibrationVehicleParams* params,
                                               dwEgomotionConstHandle_t egoMotion,
                                               const dwVehicle* vehicle,
                                               dwCalibrationEngineHandle_t engine);

DW_API_PUBLIC
dwStatus dwCalibrationEngine_reset(dwCalibrationEngineHandle_t engine);

DW_API_PUBLIC
dwStatus dwCalibrationEngine_release(dwCalibrationEngineHandle_t engine);

DW_API_PUBLIC
dwStatus dwCalibrationEngine_startCalibration(dwCalibrationRoutineHandle_t routine,
                                              dwCalibrationEngineHandle_t engine);

DW_API_PUBLIC
dwStatus dwCalibrationEngine_stopCalibration(dwCalibrationRoutineHandle_t routine,
                                             dwCalibrationEngineHandle_t engine);

DW_API_PUBLIC
dwStatus dwCalibrationEngine_resetCalibration(dwCalibrationRoutineHandle_t routine,
                                              dwCalibrationEngineHandle_t engine);

DW_API_PUBLIC
dwStatus dwCalibrationEngine_getCalibrationStatus(dwCalibrationStatus* status,
                                                  dwCalibrationRoutineHandle_t routine,
                                                  dwCalibrationEngineHandle_t engine);

DW_API_PUBLIC
dwStatus dwCalibrationEngine_getSupportedSignals(dwCalibrationSignal* signals,
                                                 dwCalibrationRoutineHandle_t routine,
                                                 dwCalibrationEngineHandle_t engine);

DW_API_PUBLIC
dwStatus dwCalibrationEngine_getSensorToRigTransformation(dwTransformation3f* sensorToRig,
                                                          dwCalibrationRoutineHandle_t routine,
                                                          dwCalibrationEngineHandle_t engine);

DW_API_PUBLIC
dwStatus dwCalibrationEngine_getSensorToSensorTransformation(dwTransformation3f* sensorToSensor,
                                                             uint32_t indexA, uint32_t indexB,
                                                             dwCalibrationRoutineHandle_t routine,
                                                             dwCalibrationEngineHandle_t engine);

DW_API_PUBLIC
dwStatus dwCalibrationEngine_getOdometrySpeedFactor(float32_t* odometrySpeedFactor,
                                                    dwCalibrationRoutineHandle_t routine,
                                                    dwCalibrationEngineHandle_t engine);

DW_API_PUBLIC
dwStatus dwCalibrationEngine_getVehicleWheelRadius(float32_t* radius, dwVehicleWheels wheel,
                                                   dwCalibrationRoutineHandle_t routine,
                                                   dwCalibrationEngineHandle_t engine);

DW_API_PUBLIC
dwStatus dwCalibrationEngine_getVehicleSteeringProperties(dwVehicleSteeringProperties* steering,
                                                          dwCalibrationRoutineHandle_t routine,
                                                          dwCalibrationEngineHandle_t engine);

DW_API_PUBLIC
dwStatus dwCalibrationEngine_addFeatureDetections(uint32_t featureCapacity,
                                                  uint32_t historyCapacity,
                                                  const uint32_t* d_featureCount,
                                                  const uint32_t* d_ages,
                                                  const dwVector2f* d_locationHistory,
                                                  const dwFeature2DStatus* d_featureStatuses,
                                                  uint32_t currentTimeIdx,
                                                  dwTime_t timestamp,
                                                  uint32_t sensorIndex,
                                                  dwCalibrationEngineHandle_t engine);

DW_API_PUBLIC
dwStatus dwCalibrationEngine_addIMUFrame(const dwIMUFrame* imuFrame,
                                         uint32_t sensorIndex,
                                         dwCalibrationEngineHandle_t engine);

DW_API_PUBLIC
dwStatus dwCalibrationEngine_addLidarPointCloud(const dwVector4f* lidarPoints,
                                                uint32_t pointCount,
                                                dwTime_t timestamp,
                                                uint32_t sensorIndex,
                                                dwCalibrationEngineHandle_t engine);

DW_API_PUBLIC
dwStatus dwCalibrationEngine_addLidarPose(const dwTransformation3f* deltaPoseLidarTimeAToTimeB,
                                          const dwTransformation3f* deltaPoseRigTimeAToTimeB,
                                          dwTime_t timestampA,
                                          dwTime_t timestampB,
                                          uint32_t sensorIndex,
                                          dwCalibrationEngineHandle_t engine);

DW_API_PUBLIC
dwStatus dwCalibrationEngine_addRadarDopplerMotion(const dwRadarDopplerMotion* radarMotion,
                                                   uint32_t sensorIndex,
                                                   dwCalibrationEngineHandle_t engine);

DW_API_PUBLIC
dwStatus dwCalibrationEngine_addMatches(const dwFeatureHistoryArray* matches,
                                        dwTime_t timestamp,
                                        uint32_t leftSensorIndex,
                                        uint32_t rightSensorIndex,
                                        dwCalibrationEngineHandle_t engine);

DW_API_PUBLIC
dwStatus dwCalibrationEngine_addVehicleIOState(const dwVehicleIOState* vioState,
                                               uint32_t sensorIndex,
                                               dwCalibrationEngineHandle_t engine);

#ifdef __cplusplus
}
#endif

#endif // DW_CALIBRATION_ENGINE_CALIBRATIONENGINE_H_