tiadalg_voxelization.h File Reference

This file defines the interface for Voxelization and feature computation for points pillar CNN for 3D OD on lidar data. More...

#include <stdint.h>

Go to the source code of this file.

Data Structures
struct	voxel_info_t
	This structure defines the property of lidar data and its voxelization. More...

Functions
int32_t	tiadalg_voxelization_cn (float *lidar_data, int32_t num_lidar_points, int32_t *scratch_1, int32_t *scratch_2, voxel_info_t *voxel_info, void *voxel_data, int32_t *indices, int16_t *num_points, int32_t scale_fact, int32_t out_voxel_data_type)
	It does basic voxelization. More...
int32_t	tiadalg_voxel_feature_compute_cn (void *voxel_data, int32_t *indices, int16_t *num_points, voxel_info_t *voxel_info, int32_t num_voxels, int32_t scale_fact, int32_t data_type)
	Computes feature for voxels. More...

Detailed Description

This file defines the interface for Voxelization and feature computation for points pillar CNN for 3D OD on lidar data.

Version

0.1 Sep 2018 : Initial Code

Function Documentation

tiadalg_voxelization_cn()

int32_t tiadalg_voxelization_cn	(	float *	lidar_data,
		int32_t	num_lidar_points,
		int32_t *	scratch_1,
		int32_t *	scratch_2,
		voxel_info_t *	voxel_info,
		void *	voxel_data,
		int32_t *	indices,
		int16_t *	num_points,
		int32_t	scale_fact,
		int32_t	out_voxel_data_type
	)

It does basic voxelization.

tiadalg_voxelization

Parameters

lidar_data	[in] : Input lidar data. 4xL
num_lidar_points	[in] : Number of lidar points
scratch_1	[in] : scratch of size num_lidar_points*sizeof(uint32_t)
scratch_2	[in] : scratch of size num_lidar_points*sizeof(uint32_t)
voxel_info	[in] : voxel info
voxel_data	[out] : output buffer of size nw_max_num_voxels*max_points_per_voxel*9*sizeof(out_voxel_data_type)
indices	[out] : output buffer of size nw_max_num_voxels*sizeof(uint32). Indicating voxel location in birds eye view
num_points	[out] : output buffer of size nw_max_num_voxels*sizeof(uint16). Indicating acctual number of points in each voxel
scale_fact	[in] : Input lidar data is multiplied with value before usages
out_voxel_data_type	[out] : Output voxel data type. Not used right now. It is always float32 right now.

Note

• it return total number of non empty voxels

tiadalg_voxel_feature_compute_cn()

int32_t tiadalg_voxel_feature_compute_cn	(	void *	voxel_data,
		int32_t *	indices,
		int16_t *	num_points,
		voxel_info_t *	voxel_info,
		int32_t	num_voxels,
		int32_t	scale_fact,
		int32_t	data_type
	)

Computes feature for voxels.

tiadalg_voxel_feature_compute_cn

Parameters

voxel_data	[out] : output buffer of size nw_max_num_voxels*max_points_per_voxel*9*sizeof(out_voxel_data_type)
indices	[in] : output buffer of size nw_max_num_voxels*sizeof(uint32). Indicating voxel location in birds eye view
num_points	[in] : output buffer of size nw_max_num_voxels*sizeof(uint16). Indicating acctual number of points in each voxel
voxel_info	[in] : voxel info
num_voxels	[in] : Total number of voxels given to API
scale_fact	[in] : Input lidar data is multiplied with value before usages
data_type	[in] : Not used right now. It is flaot32 always right now

Note