Hello NVIDIA,
In the image type - DW_LIDAR_IMAGE_TYPE_2D_DISTANCE_IMAGE supported for Lidar, does the image pixel represent 2D distance in XY plane or a tuple of 3D lidar coordinate in XYZ plane and intensity ?
Becuase in the drveworks documentation, at one place I found the 2D distance and another refrence says about tuple of 3D istance and intensity
Also,what kind of image does it generate ? Will it be a RAW image ?
Dear shruths1,
It is documentation bug. There is no DW_LIDAR_IMAGE_TYPE_2D_DISTANCE_IMAGE flag in dwLidarImageType enum. We have fixed in DW 1.5 documentation and it is available for Drive AGX platform already. Unfortunately, last release for Drive PX2 has DW 1.2. Please consider upgrading to Drive AGX platform to get latest features on DW.
Dear SivaRamaKrishna,
The documentation under Lidar Accumulator Samplein Driveworks SDK reference says the following :
There are three types of the image are supported: DW_LIDAR_IMAGE_TYPE_3D_DISTANCE_IMAGE, DW_LIDAR_IMAGE_TYPE_2D_DISTANCE_IMAGE and DW_LIDAR_IMAGE_TYPE_INTENSITY_IMAGE.
And the LIDAR Accumulator header file contains the following enumeration:
64 typedef enum {
65 DW_LIDAR_IMAGE_TYPE_3D_DISTANCE_IMAGE,
66 DW_LIDAR_IMAGE_TYPE_INTENSITY_IMAGE,
67 DW_LIDAR_IMAGE_TYPE_2D_GRID_IMAGE,
68 } dwLidarImageType;
Also, once this image gets converted to dwImageGL type for rendering on the screen, the dwImageMetaData element of structure contains no information for all of the three image types
In what kind of images would this data be available ?
How are these images converted from one type to another from the above three defined types -3D ditance, intensity and 2D grid?