How does DriveWorks allocate storage for lidar returns?

Autonomous Vehicles DRIVE AGX Orin DRIVE AGX Orin General
1

I’m implementing a custom lidar plugin and trying to provide the point cloud in the in the returnData portion of the dwLidarDecodedPacket. I’ve set the availableReturns to DW_LIDAR_RETURN_TYPE_1 thru DW_LIDAR_RETURN_TYPE_6 so that I can have up to 6 returns. However, It seems that Driveworks only allocates storage for pointsPerSpin divided by 6 for the amount of points I can store in each returnData[] array. Is that correct? So if our Lidar puts out X rays per “spin”, but we can have up to 6 returns for each ray, then I really need to set pointsPerSpin to X*6 to have enough storage for my return data?

2

It appears that you have access to direct support through nvonline. Could you post your questions and seek support through it?

In the meantime, please check the checkboxes below to provide some additional information.
Software Version
DRIVE OS 6.0.6
DRIVE OS 6.0.5
DRIVE OS 6.0.4 (rev. 1)
DRIVE OS 6.0.4 SDK
other

Target Operating System
Linux
QNX
other

Hardware Platform
DRIVE AGX Orin Developer Kit (940-63710-0010-D00)
DRIVE AGX Orin Developer Kit (940-63710-0010-C00)
DRIVE AGX Orin Developer Kit (not sure its number)
other

SDK Manager Version
1.9.2.10884
other

Host Machine Version
native Ubuntu Linux 20.04 Host installed with SDK Manager
native Ubuntu Linux 20.04 Host installed with DRIVE OS Docker Containers
native Ubuntu Linux 18.04 Host installed with DRIVE OS Docker Containers
other

3

Software Version
DRIVE OS 6.0.5

Target Operating System
Linux

Hardware Platform
N/A

SDK Manager Version
N/A

Host Machine Version
N/A

4

I’m not sure if I have support through nvonline. I tried logging in but my credentials don’t work there (neither does password recovery).

5

The maximum number of points per return is calculated by dividing ‘pointsPerPacket’ by the number of available returns set by ‘availableReturns’. I hope this explanation will help to clarify your confusion.

6

Ok, this was what I had gathered based on my experiments, but I wanted official confirmation. Thanks!

7

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