PointCloudStitcher.h

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#ifndef DW_POINTCLOUDPROCESSING_POINTCLOUDSTITCHER_H_
#define DW_POINTCLOUDPROCESSING_POINTCLOUDSTITCHER_H_

#include <dw/core/base/Types.h>
#include <dw/egomotion/Egomotion.h>
#include <dw/pointcloudprocessing/pointcloud/PointCloud.h>

#ifdef __cplusplus
extern "C" {
#endif

#define DW_POINTCLOUD_STITCHER_MAX_POINT_CLOUDS DW_BIND_SLOT_MAX_COUNT

typedef struct dwPointCloudStitcherObject* dwPointCloudStitcherHandle_t;

DW_API_PUBLIC
dwStatus dwPointCloudStitcher_initialize(dwPointCloudStitcherHandle_t* obj,
                                         dwContextHandle_t ctx);

DW_API_PUBLIC
dwStatus dwPointCloudStitcher_reset(dwPointCloudStitcherHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudStitcher_release(dwPointCloudStitcherHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudStitcher_getCUDAStream(cudaStream_t* stream,
                                            dwPointCloudStitcherHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudStitcher_setCUDAStream(const cudaStream_t stream,
                                            dwPointCloudStitcherHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudStitcher_enableMotionCompensation(dwTime_t timestamp,
                                                       dwEgomotionConstHandle_t egomotion,
                                                       dwPointCloudStitcherHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudStitcher_disableMotionCompensation(dwPointCloudStitcherHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudStitcher_setGlobalTransformation(const dwTransformation3f* tx,
                                                      dwPointCloudStitcherHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudStitcher_bindInput(dwBindSlot slot,
                                        const dwPointCloud* pointCloud,
                                        const dwTransformation3f* transform,
                                        dwPointCloudStitcherHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudStitcher_bindOutput(dwPointCloud* points,
                                         dwPointCloudStitcherHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudStitcher_process(dwPointCloudStitcherHandle_t obj);

#ifdef __cplusplus
}
#endif

#endif // DW_POINTCLOUDPROCESSING_POINTCLOUDSTITCHER_H_