Detailed Description

Defines datatypes and functions to accumulate cloud of points.

Data Structures
struct	dwPointCloudAccumulatorParams
	Defines point cloud accumulator parameters. More...

struct	dwPointCloudTimestampRange
	Defines timestamp range of a point cloud. More...

Typedefs
typedef struct dwPointCloudAccumulatorObject *	dwPointCloudAccumulatorHandle_t

Functions
DW_API_PUBLIC dwStatus	dwPointCloudAccumulator_addLidarPacket (const dwLidarDecodedPacket *packet, dwPointCloudAccumulatorHandle_t obj)
	Pushes lidar packet to point cloud accumulator. More...

DW_API_PUBLIC dwStatus	dwPointCloudAccumulator_bindOutput (dwPointCloud *pointCloud, dwPointCloudAccumulatorHandle_t obj)
	Binds output point cloud buffer. More...

DW_API_PUBLIC dwStatus	dwPointCloudAccumulator_bindOutputTimestamps (dwPointCloudTimestampRange *timestampRange, dwPointCloudAccumulatorHandle_t obj)
	Binds output timestamp range. More...

DW_API_PUBLIC dwStatus	dwPointCloudAccumulator_getCUDAStream (cudaStream_t *stream, dwPointCloudAccumulatorHandle_t obj)
	Gets CUDA stream of point cloud accumulator. More...

DW_API_PUBLIC dwStatus	dwPointCloudAccumulator_getDefaultParams (dwPointCloudAccumulatorParams *params)
	Gets default point cloud accumulator parameters. More...

DW_API_PUBLIC dwStatus	dwPointCloudAccumulator_getSweepSize (dwVector2ui *size, dwPointCloudAccumulatorHandle_t obj)
	Gets sweeps/spins size. More...

DW_API_PUBLIC dwStatus	dwPointCloudAccumulator_initialize (dwPointCloudAccumulatorHandle_t obj, const dwPointCloudAccumulatorParams accumulationParams, const dwLidarProperties *lidarProperties, dwContextHandle_t ctx)
	Initializes point cloud accumulator. More...

DW_API_PUBLIC dwStatus	dwPointCloudAccumulator_isReady (bool *isReady, dwPointCloudAccumulatorHandle_t obj)
	Indicate that enough data has been collected to perform full combination. More...

DW_API_PUBLIC dwStatus	dwPointCloudAccumulator_process (dwPointCloudAccumulatorHandle_t obj)
	Accumulates lidar packets and stores the results to the output buffer. More...

DW_API_PUBLIC dwStatus	dwPointCloudAccumulator_release (dwPointCloudAccumulatorHandle_t obj)
	Releases point cloud accumulator. More...

DW_API_PUBLIC dwStatus	dwPointCloudAccumulator_reset (dwPointCloudAccumulatorHandle_t obj)
	Resets point cloud accumulator. More...

DW_API_PUBLIC dwStatus	dwPointCloudAccumulator_setCUDAStream (const cudaStream_t stream, dwPointCloudAccumulatorHandle_t obj)
	Sets CUDA stream of point cloud accumulator. More...

DW_API_PUBLIC dwStatus	dwPointCloudAccumulator_setLidarToRigTransformation (const dwTransformation3f *transformation, dwPointCloudAccumulatorHandle_t obj)
	Sets lidar to rig transformation. More...

Data Structure Documentation

◆ dwPointCloudAccumulatorParams

struct dwPointCloudAccumulatorParams

Data Fields
dwEgomotionConstHandle_t	egomotion	Handle to egomotion module.
bool	enableMotionCompensation	Setting it to true will correct the distortions caused by lidar sensor motion.
bool	enableZeroCrossDetection	If set to true end of spin is detected based on angle of incoming points otherwise on number of incoming packets.
uint32_t	filterWindowSize	The horizontal smoothing filter window size.
float32_t	maxAngleDegree	Ending angle in degree.
float32_t	maxDistanceMeter	Ending distance in degree.
dwMemoryType	memoryType	The module will process lidar packets and output to cuda memory if `memoryType = DW_MEMORY_CUDA`. The module will process lidar packets and output to cpu memory if `memoryType = DW_MEMORY_CPU`
float32_t	minAngleDegree	Starting angle in degree.
float32_t	minDistanceMeter	Starting distance in meter.
bool	organized	If user sets it to true, the module will process the lidar packets such that the output data is aligned on 3D grid.
uint32_t	outputFormats	Combination of desired dwPointCloudFormat flags.
bool	outputInRigCoordinates	If true output points are in rig coordinates.
dwTransformation3f	sensorTransformation	Transformation aligns the lidar sensor with the platform that produces the egomotion.

◆ dwPointCloudTimestampRange

struct dwPointCloudTimestampRange

Data Fields
dwTime_t	hostEndTimestamp
dwTime_t	hostStartTimestamp
dwTime_t	sensorEndTimestamp
dwTime_t	sensorStartTimestamp

Typedef Documentation

◆ dwPointCloudAccumulatorHandle_t

typedef struct dwPointCloudAccumulatorObject* dwPointCloudAccumulatorHandle_t

Definition at line 58 of file PointCloudAccumulator.h.

Function Documentation

◆ dwPointCloudAccumulator_addLidarPacket()

DW_API_PUBLIC dwStatus dwPointCloudAccumulator_addLidarPacket	(	const dwLidarDecodedPacket *	packet,
		dwPointCloudAccumulatorHandle_t	obj
	)

Pushes lidar packet to point cloud accumulator.

Parameters

[in]	packet	Pointer to decoded lidar packet
[in]	obj	Handle to point cloud accumulator

Returns: DW_SUCCESS - if successfully added packet
DW_INTERNAL_ERROR - the values included in decoded lidar packet do not match the ones in the lidar properties
DW_INVALID_ARGUMENT

◆ dwPointCloudAccumulator_bindOutput()

DW_API_PUBLIC dwStatus dwPointCloudAccumulator_bindOutput	(	dwPointCloud *	pointCloud,
		dwPointCloudAccumulatorHandle_t	obj
	)

Binds output point cloud buffer.

Parameters

[out]	pointCloud	Pointer to output buffer
[in]	obj	Handle to point cloud accumulator

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT - the memory type in the output buffer does not match the one specified in dwPointCloudAccumulatorParams.
Or user did not allocate memory. Please call dwPointCloud_createBuffer in advance to allocate proper memory storage.

◆ dwPointCloudAccumulator_bindOutputTimestamps()

DW_API_PUBLIC dwStatus dwPointCloudAccumulator_bindOutputTimestamps	(	dwPointCloudTimestampRange *	timestampRange,
		dwPointCloudAccumulatorHandle_t	obj
	)

Binds output timestamp range.

Parameters

[out]	timestampRange	Timestamp range of a output point cloud
[in]	obj	Handle to point cloud accumulator

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

◆ dwPointCloudAccumulator_getCUDAStream()

DW_API_PUBLIC dwStatus dwPointCloudAccumulator_getCUDAStream	(	cudaStream_t *	stream,
		dwPointCloudAccumulatorHandle_t	obj
	)

Gets CUDA stream of point cloud accumulator.

Parameters

[out]	stream	Pointer to CUDA stream handle
[in]	obj	Handle to point cloud accumulator

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT
DW_CALL_NOT_ALLOWED - point cloud accumulator is initialized to process host memory

◆ dwPointCloudAccumulator_getDefaultParams()

DW_API_PUBLIC dwStatus dwPointCloudAccumulator_getDefaultParams ( dwPointCloudAccumulatorParams * params )

Gets default point cloud accumulator parameters.

Parameters

[out] params Pointer to point cloud parameters

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

◆ dwPointCloudAccumulator_getSweepSize()

DW_API_PUBLIC dwStatus dwPointCloudAccumulator_getSweepSize	(	dwVector2ui *	size,
		dwPointCloudAccumulatorHandle_t	obj
	)

Gets sweeps/spins size.

Parameters

[out]	size	Sweep size, x is width and y is height
[in]	obj	Handle to the Point Cloud Accumulator module

Returns: DW_INVALID_HANDLE if given handle is invalid, i.e. null or of wrong type
DW_INVALID_ARGUMENT if given arguments are invalid
DW_SUCCESS

Note: User can call this function once Point Cloud Accumulator is initialized

◆ dwPointCloudAccumulator_initialize()

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

Initializes point cloud accumulator.

Parameters

[out]	obj	Pointer to point cloud accumulator handle
[in]	accumulationParams	Pointer to point cloud accumulator parameters
[in]	lidarProperties	Pointer to lidar properties
[in]	ctx	Handle to the context

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

◆ dwPointCloudAccumulator_isReady()

DW_API_PUBLIC dwStatus dwPointCloudAccumulator_isReady	(	bool *	isReady,
		dwPointCloudAccumulatorHandle_t	obj
	)

Indicate that enough data has been collected to perform full combination.

When this method returns true, a call to dwPointCloudAccumulator_process() can be used to retrieve a solution.

Parameters

[out]	isReady	If `true` we have enough packets to full fill the selcted strategy
[in]	obj	Handle to point cloud accumulator

Returns: DW_INVALID_HANDLE - if given handle is invalid
DW_INVALID_ARGUMENT - if isReady is nullptr
DW_SUCCESS

◆ dwPointCloudAccumulator_process()

DW_API_PUBLIC dwStatus dwPointCloudAccumulator_process ( dwPointCloudAccumulatorHandle_t obj )

Accumulates lidar packets and stores the results to the output buffer.

Parameters

[in] obj Handle to point cloud accumulator

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

Note

Upon successful execution, the function will modify the following variables in output buffer

organized will be set to the same value specified in dwPointCloudAccumulatorParams
size will be non-zero value denotes the current accumulated points in the memory.

◆ dwPointCloudAccumulator_release()

DW_API_PUBLIC dwStatus dwPointCloudAccumulator_release ( dwPointCloudAccumulatorHandle_t obj )

Releases point cloud accumulator.

Parameters

[in] obj Handle to point cloud accumulator

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

◆ dwPointCloudAccumulator_reset()

DW_API_PUBLIC dwStatus dwPointCloudAccumulator_reset ( dwPointCloudAccumulatorHandle_t obj )

Resets point cloud accumulator.

Parameters

[in] obj Handle to point cloud accumulator

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

◆ dwPointCloudAccumulator_setCUDAStream()

DW_API_PUBLIC dwStatus dwPointCloudAccumulator_setCUDAStream	(	const cudaStream_t	stream,
		dwPointCloudAccumulatorHandle_t	obj
	)

Sets CUDA stream of point cloud accumulator.

Parameters

[in]	stream	Handle to CUDA stream
[in]	obj	Handle to point cloud accumulator

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT
DW_CALL_NOT_ALLOWED - point cloud accumulator is initialized to process host memory

◆ dwPointCloudAccumulator_setLidarToRigTransformation()

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

Sets lidar to rig transformation.

Parameters

[in]	transform	A pointer to the transform
[in]	obj	Handle to point cloud accumulator

Returns: DW_SUCCESS

Detailed Description

Data Structures

Typedefs

Functions

Data Structure Documentation

◆ dwPointCloudAccumulatorParams

◆ dwPointCloudTimestampRange

Typedef Documentation

◆ dwPointCloudAccumulatorHandle_t

Function Documentation

◆ dwPointCloudAccumulator_addLidarPacket()

◆ dwPointCloudAccumulator_bindOutput()

◆ dwPointCloudAccumulator_bindOutputTimestamps()

◆ dwPointCloudAccumulator_getCUDAStream()

◆ dwPointCloudAccumulator_getDefaultParams()

◆ dwPointCloudAccumulator_getSweepSize()

◆ dwPointCloudAccumulator_initialize()

◆ dwPointCloudAccumulator_isReady()

◆ dwPointCloudAccumulator_process()

◆ dwPointCloudAccumulator_release()

◆ dwPointCloudAccumulator_reset()

◆ dwPointCloudAccumulator_setCUDAStream()

◆ dwPointCloudAccumulator_setLidarToRigTransformation()