Detailed Description

NVIDIA DriveWorks API: Landmark Detector Methods

Description: This file defines types used in different landmark detection systems.

Note: SW Release Applicability: These APIs are available in NVIDIA DRIVE Software releases.

Definition in file LandmarkDetectorTypes.h.

Data Structures
struct	dwLandmark
	A definition of one landmark. More...

struct	dwLandmarkDetection
	The output format of detected line types. More...

struct	dwLaneDetection
	The output format of detected lanes. More...

struct	dwLaneMarking
	A definition of one lane. More...

struct	dwPole
	This structure and dwPoleDetection are deprecated, going forward pelase only use dwLandmark and dwLandmarkDetection. More...

struct	dwPoleDetection
	The output format of detected poles. More...

Macros
#define	DW_LANDMARK_MAX_COUNT 128

#define	DW_LANDMARK_POINT_MAX_COUNT 512

#define	DW_LANEMARK_MAX_COUNT 32

#define	DW_LANEMARK_POINT_MAX_COUNT 128

#define	DW_LANEMARK_TRACKID_INVALID DW_LANEMARK_TRACKID_MAX + 1

#define	DW_LANEMARK_TRACKID_MAX 100

#define	DW_POLE_DETECTION_MAX_COUNT 32

Enumerations
enum	dwLanePositionType { DW_LANEMARK_POSITION_INVALID = 0, DW_LANEMARK_POSITION_ADJACENT_LEFT_RIGHT = 1, DW_LANEMARK_POSITION_ADJACENT_LEFT = 2, DW_LANEMARK_POSITION_EGO_LEFT = 3, DW_LANEMARK_POSITION_EGO_RIGHT = 4, DW_LANEMARK_POSITION_ADJACENT_RIGHT = 5, DW_LANEMARK_POSITION_ADJACENT_RIGHT_LEFT = 6, DW_LANEMARK_POSITION_UNDEFINED = 7 }
	Definition of the position of a lane marking in respect to the ego lane. More...

Data Structure Documentation

◆ dwLandmark

struct dwLandmark

Data Fields
float32_t	confidence	Confidence Score. Confidence score.
dwVector2f	imagePoints[DW_LANDMARK_POINT_MAX_COUNT]	point location in image domain (pixel).
bool	isClose	closed polygon or not:
dwLandmarkAttribute	landmarkAttribute	type;
uint32_t	numPoints	Number of points in the array.
uint32_t	trackId	Track ID. A unique id.
dwVector3f	worldPoints[DW_LANDMARK_POINT_MAX_COUNT]	point location in the world coordinate (meter).

◆ dwLandmarkDetection

struct dwLandmarkDetection

Data Fields
dwLandmark	landmarks[DW_LANDMARK_MAX_COUNT]	Detected waitlines.
uint32_t	numLandmarks	Number of detected waitlines.

◆ dwLaneDetection

struct dwLaneDetection

Data Fields
dwLaneMarking	laneMarkings[DW_LANEMARK_MAX_COUNT]	Detected lane markings.
uint32_t	numLaneMarkings	Number of detected lane markings.
dwTime_t	timestamp	Timestamp of frame used for detection.

◆ dwLaneMarking

struct dwLaneMarking

Data Fields
float32_t	confidence	Confidence Score. Confidence score computed by lane detection.
float32_t	confidenceValues[DW_LANEMARK_POINT_MAX_COUNT]	Per point confidence of the lane marking.
dwVector2f	imagePoints[DW_LANEMARK_POINT_MAX_COUNT]	Lane marking point location in image domain (pixel).
dwLaneMarkType	lineType	Category of the line type of lane marking.
uint32_t	numPoints	Number of points in the array.
dwLanePositionType	positionType	Category of the position of lane marking.
uint32_t	trackId	Track ID. A unique id assigned by lane tracking module.
dwVector2f	worldPoints[DW_LANEMARK_POINT_MAX_COUNT]

◆ dwPole

struct dwPole

Data Fields
uint32_t	numPoints	Number of points in the array.
dwVector2f	points[DW_LANDMARK_POINT_MAX_COUNT]	Pole point location in image domain (pixel).

◆ dwPoleDetection

struct dwPoleDetection

Data Fields
uint32_t	numPoles	Number of detected poles.
dwPole	poles[DW_POLE_DETECTION_MAX_COUNT]	Detected poles.

Macro Definition Documentation

◆ DW_LANDMARK_MAX_COUNT

#define DW_LANDMARK_MAX_COUNT 128

Definition at line 55 of file LandmarkDetectorTypes.h.

◆ DW_LANDMARK_POINT_MAX_COUNT

#define DW_LANDMARK_POINT_MAX_COUNT 512

Definition at line 56 of file LandmarkDetectorTypes.h.

◆ DW_LANEMARK_MAX_COUNT

#define DW_LANEMARK_MAX_COUNT 32

Definition at line 50 of file LandmarkDetectorTypes.h.

◆ DW_LANEMARK_POINT_MAX_COUNT

#define DW_LANEMARK_POINT_MAX_COUNT 128

Definition at line 51 of file LandmarkDetectorTypes.h.

◆ DW_LANEMARK_TRACKID_INVALID

#define DW_LANEMARK_TRACKID_INVALID DW_LANEMARK_TRACKID_MAX + 1

Definition at line 48 of file LandmarkDetectorTypes.h.

◆ DW_LANEMARK_TRACKID_MAX

#define DW_LANEMARK_TRACKID_MAX 100

Definition at line 47 of file LandmarkDetectorTypes.h.

◆ DW_POLE_DETECTION_MAX_COUNT

#define DW_POLE_DETECTION_MAX_COUNT 32

Definition at line 53 of file LandmarkDetectorTypes.h.

Enumeration Type Documentation

◆ dwLanePositionType

enum dwLanePositionType

Definition of the position of a lane marking in respect to the ego lane.

Enumerator
DW_LANEMARK_POSITION_INVALID	invalid
DW_LANEMARK_POSITION_ADJACENT_LEFT_RIGHT	this can be same as ego left or different if this is split lane
DW_LANEMARK_POSITION_ADJACENT_LEFT	lane marking on the left side next to ego lane
DW_LANEMARK_POSITION_EGO_LEFT	left lane marking of the ego lane
DW_LANEMARK_POSITION_EGO_RIGHT	right lane marking of the ego lane
DW_LANEMARK_POSITION_ADJACENT_RIGHT	lane marking on the right side next to ego lane
DW_LANEMARK_POSITION_ADJACENT_RIGHT_LEFT	this can be same as ego right or different if this is split lane
DW_LANEMARK_POSITION_UNDEFINED	lane marking has been identified but has not been categorized

Definition at line 59 of file LandmarkDetectorTypes.h.