47 #ifndef DW_SENSORS_LIDAR_LIDAR_H_ 48 #define DW_SENSORS_LIDAR_LIDAR_H_ 95 #define DW_SENSORS_LIDAR_MAX_ROWS 256 229 #endif // DW_SENSORS_LIDAR_LIDAR_H_
NVIDIA DriveWorks API: Core Types
DW_API_PUBLIC dwStatus dwSensorLidar_enableDecoding(dwSensorHandle_t sensor)
Enables the decoding of the Lidar packets, which incurs an additional CPU load.
float float32_t
Specifies POD types.
uint32_t packetsPerSecond
float32_t minVerticalAngleRad
float32_t horizontalFOVStart
float32_t verticalFOVStart
dwLidarPointRTHI const * pointsRTHI
#define DW_SENSORS_LIDAR_MAX_ROWS
maximal number of rows in dwLidarProperties
Holds a Lidar point cloud XYZ and the associated intensity.
float32_t maxHorizontalAngleRad
struct dwSensorObject * dwSensorHandle_t
Handle representing a sensor.
dwStatus
Status definition.
NVIDIA DriveWorks API: Sensors
float32_t minHorizontalAngleRad
DW_API_PUBLIC dwStatus dwSensorLidar_getProperties(dwLidarProperties *lidarProperties, dwSensorHandle_t sensor)
Gets information about the Lidar sensor.
float32_t horizontalFOVEnd
int64_t dwTime_t
Specifies a timestamp unit, in microseconds.
DW_API_PUBLIC dwStatus dwSensorLidar_readPacket(dwLidarDecodedPacket const **data, dwTime_t timeout_us, dwSensorHandle_t sensor)
Reads one scan packet.
dwLidarPointXYZI const * pointsXYZI
DW_API_PUBLIC dwStatus dwSensorLidar_returnPacket(dwLidarDecodedPacket const *scan, dwSensorHandle_t sensor)
Returns the data read to the internal pool.
float32_t maxVerticalAngleRad
DW_API_PUBLIC dwStatus dwSensorLidar_disableDecoding(dwSensorHandle_t sensor)
Disable the decoding of the Lidar packets, which frees additional CPU load.
DW_API_PUBLIC dwStatus dwSensorLidar_processRawData(dwLidarDecodedPacket const **data, uint8_t const *rawData, size_t size, dwSensorHandle_t sensor)
Decodes RAW data previously read and returns a pointer to it.
DW_API_PUBLIC dwStatus dwSensorLidar_isDecodingEnabled(bool *enable, dwSensorHandle_t sensor)
Retrieves the state of packet decoding.