Detailed Description

Defines point cloud processing datatypes and memory handling functions.

Data Structures
struct	dwPointCloud
	Defines point cloud data structure. More...

Modules
	Point Cloud Accumulator
	Defines datatypes and functions to accumulate cloud of points.

	Point Cloud ICP
	Defines Point Cloud ICP module to align point clouds using iterative closest point algorithms.

	Point Cloud Plane Extractor
	Defines module to extract one 3D plane nearby the sensor.

	Point Cloud Range Image Creator
	Defines module to produce range image via spherical projection of the point cloud.

	Point Cloud Stitcher
	Defines module to register/stitch multiple sets of point clouds.

Enumerations
enum	dwPointCloudFormat { DW_POINTCLOUD_FORMAT_XYZI = 0, DW_POINTCLOUD_FORMAT_RTHI = 1 }
	Defines point format. More...

Functions
DW_API_PUBLIC dwStatus	dwPointCloud_createBuffer (dwPointCloud *buffer)
	Allocates memory for point cloud data structure. More...

DW_API_PUBLIC dwStatus	dwPointCloud_destroyBuffer (dwPointCloud *buffer)
	Destroys allocated memory for point cloud data structure. More...

Data Structure Documentation

◆ dwPointCloud

struct dwPointCloud

Data Fields
uint32_t	capacity	Maximum number of points acceptable by point cloud.
dwPointCloudFormat	format	Format of a buffer.
bool	organized	Flag indicating the data is ordered on the 3D grid.
void *	points	Pointer to memory buffer.
uint32_t	size	Number of points in the cloud.
dwTime_t	timestamp	Time when the point cloud capturing is finished.
dwMemoryType	type	Defines type of a memory GPU or CPU.

Enumeration Type Documentation

◆ dwPointCloudFormat

enum dwPointCloudFormat

Defines point format.

Enumerator
DW_POINTCLOUD_FORMAT_XYZI	Cartesian 3D coordinate + intensity.
DW_POINTCLOUD_FORMAT_RTHI	Polar 3D coordinate + intensity.

Definition at line 60 of file PointCloud.h.

Function Documentation

◆ dwPointCloud_createBuffer()

DW_API_PUBLIC dwStatus dwPointCloud_createBuffer ( dwPointCloud * buffer )

Allocates memory for point cloud data structure.

Parameters

[out] buffer Pointer to dwPointCloud

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT

Note

User must specify the followings for the argument buffer:

The member variable capacity to indicate the memory allocation size
The member variable type to indicate the memory type, either host memory or device memory

Upon successful return, this API will set size to zero to indicate it contains no element in the memory By default this API will set organized to false

◆ dwPointCloud_destroyBuffer()

DW_API_PUBLIC dwStatus dwPointCloud_destroyBuffer ( dwPointCloud * buffer )

Destroys allocated memory for point cloud data structure.