PointCloudAccumulator.h

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#ifndef DW_POINTCLOUDPROCESSING_POINTCLOUDACCUMULATOR_H_
#define DW_POINTCLOUDPROCESSING_POINTCLOUDACCUMULATOR_H_

#include <dw/core/base/Types.h>
#include <dw/pointcloudprocessing/pointcloud/PointCloud.h>
#include <dw/egomotion/Egomotion.h>
#include <dw/sensors/lidar/Lidar.h>
#ifdef __cplusplus
extern "C" {
#endif

typedef struct dwPointCloudAccumulatorObject* dwPointCloudAccumulatorHandle_t;

typedef struct
{
    dwMemoryType memoryType; 

    uint32_t outputFormats; 

    uint32_t filterWindowSize;  
    float32_t minAngleDegree;   
    float32_t maxAngleDegree;   
    float32_t minDistanceMeter; 
    float32_t maxDistanceMeter; 

    bool enableMotionCompensation; 
    bool organized;                
    bool enableZeroCrossDetection; 
    bool outputInRigCoordinates;   

    dwEgomotionConstHandle_t egomotion;      
    dwTransformation3f sensorTransformation; 

} dwPointCloudAccumulatorParams;

typedef struct dwPointCloudTimestampRange
{
    dwTime_t hostStartTimestamp;
    dwTime_t hostEndTimestamp;

    dwTime_t sensorStartTimestamp;
    dwTime_t sensorEndTimestamp;

} dwPointCloudTimestampRange;

DW_API_PUBLIC
dwStatus dwPointCloudAccumulator_initialize(dwPointCloudAccumulatorHandle_t* obj,
                                            const dwPointCloudAccumulatorParams* accumulationParams,
                                            const dwLidarProperties* lidarProperties,
                                            dwContextHandle_t ctx);
DW_API_PUBLIC
dwStatus dwPointCloudAccumulator_reset(dwPointCloudAccumulatorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudAccumulator_release(dwPointCloudAccumulatorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudAccumulator_getDefaultParams(dwPointCloudAccumulatorParams* params);

DW_API_PUBLIC
dwStatus dwPointCloudAccumulator_setLidarToRigTransformation(const dwTransformation3f* transformation,
                                                             dwPointCloudAccumulatorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudAccumulator_setCUDAStream(const cudaStream_t stream,
                                               dwPointCloudAccumulatorHandle_t obj);
DW_API_PUBLIC
dwStatus dwPointCloudAccumulator_getCUDAStream(cudaStream_t* stream,
                                               dwPointCloudAccumulatorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudAccumulator_addLidarPacket(const dwLidarDecodedPacket* packet,
                                                dwPointCloudAccumulatorHandle_t obj);
DW_API_PUBLIC
dwStatus dwPointCloudAccumulator_isReady(bool* isReady, dwPointCloudAccumulatorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudAccumulator_bindOutput(dwPointCloud* pointCloud,
                                            dwPointCloudAccumulatorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudAccumulator_bindOutputTimestamps(dwPointCloudTimestampRange* timestampRange,
                                                      dwPointCloudAccumulatorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudAccumulator_process(dwPointCloudAccumulatorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudAccumulator_getSweepSize(dwVector2ui* size, dwPointCloudAccumulatorHandle_t obj);

#ifdef __cplusplus
}
#endif

#endif // DW_POINTCLOUDPROCESSING_POINTCLOUDACCUMULATOR_H_