Data Structures | |
struct | dwLane |
The main data structure, holds or refers to the core information, such as the left or right inner edge of the lane, etc. More... | |
struct | dwLaneArray |
A lane container. More... | |
struct | dwLaneChange |
Describes lane change availability between two lane segments. More... | |
struct | dwLaneChangeArray |
A lane change container. More... | |
struct | dwLaneChunk |
The lane chunks hold a fixed number of vertices. More... | |
struct | dwLaneChunkArray |
A lane chunk container. More... | |
struct | dwLaneRelation |
Describes the relationship between a pair of lane segments. More... | |
struct | dwLaneRelationArray |
A relation container. More... | |
struct | dwLaneSegment |
A segment of a dwLane object, by referenced by the id and point indices. More... | |
struct | dwLaneVertex |
Described a vertex in a dwLane object. More... | |
struct dwLane |
Data Fields | ||
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dwLaneEndType | beginType | Information about how a lane begins (first vertex) |
bool | bidirectional | Has corresponding path in the opposite direction. |
uint32_t | chunkCount | Number of chunks in the array. |
uint32_t | chunkIndices[DW_LANE_CHUNK_INDICES_MAX_COUNT] | |
float32_t | classConfidence | Classification confidence. |
float32_t | confidence | Confidence that lane exists. |
uint64_t | currentId | Lane ID for tracking purposes. |
dwLaneEndType | endType | Information about how a lane ends (last vertex) |
dwLaneClass | laneClass | Lane class. |
uint32_t | previousIdCount | Number of previous IDs in below array. |
uint64_t | previousIds[DW_LANE_PREVIOUS_ID_MAX_COUNT] | |
float32_t | subclassConfidence | Subclassification confidence. |
dwTime_t | timestamp_us | Timestamp. |
dwLaneTurnsAllowed | turnsAllowed | Information about future turns allowed. |
uint32_t | vertexCount | Number of vertices. |
struct dwLaneArray |
Data Fields | ||
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uint32_t | count | |
uint32_t | egoIndex | |
dwLane | lanes[DW_LANE_ARRAY_MAX_COUNT] |
struct dwLaneChange |
Data Fields | ||
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dwLaneSegment | endSegment | |
uint64_t | id | ID for tracking purposes (zero is invalid) |
dwLaneSegment | startSegment | |
dwTime_t | timestamp_us | Timestamp. |
struct dwLaneChangeArray |
Data Fields | ||
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dwLaneChange | changes[DW_LANE_CHANGE_ARRAY_MAX_COUNT] | |
uint32_t | count |
struct dwLaneChunk |
Data Fields | ||
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dwVector3f | center[DW_LANE_CHUNK_SIZE] | Center of lane suggested to follow. |
dwConfidence1f | centerLateralConfidence | |
dwConfidence1f | centerVerticalConfidence | |
float32_t | commonSpeed_mps | Commonly used (de-facto) speed in meters/sec. |
dwVector3f | left[DW_LANE_CHUNK_SIZE] | Left (inner) edge of lane. |
uint8_t | leftClass[DW_LANE_CHUNK_SIZE] | Left class. |
uint8_t | leftClassConfidence[DW_LANE_CHUNK_SIZE] | Left classification 0-255 confidence. |
uint8_t | leftColor[DW_LANE_CHUNK_SIZE] | Left color. |
uint8_t | leftColorConfidence[DW_LANE_CHUNK_SIZE] | Color 0-255 confidence. |
dwConfidence1f | leftLateralConfidence | |
uint8_t | leftStyle[DW_LANE_CHUNK_SIZE] | Left style. |
uint8_t | leftStyleConfidence[DW_LANE_CHUNK_SIZE] | Style 0-255 confidence. |
dwConfidence1f | leftVerticalConfidence | |
dwVector3f | normal[DW_LANE_CHUNK_SIZE] | Unit surface normal at center. |
dwConfidence1f | normalForwardConfidence | |
dwConfidence1f | normalSidewayConfidence | |
uint8_t | occupancy[DW_LANE_CHUNK_SIZE] | |
uint8_t | occupancyConfidence[DW_LANE_CHUNK_SIZE] | 0-255 Occupancy confidence |
float32_t | officialSpeed_mps | Official speed limit in meters/second. |
dwVector3f | right[DW_LANE_CHUNK_SIZE] | Right (inner) edge of lane. |
uint8_t | rightClass[DW_LANE_CHUNK_SIZE] | Right class. |
uint8_t | rightClassConfidence[DW_LANE_CHUNK_SIZE] | Right classification 0-255 confidence. |
uint8_t | rightColor[DW_LANE_CHUNK_SIZE] | Right color. |
uint8_t | rightColorConfidence[DW_LANE_CHUNK_SIZE] | Color 0-255 confidence. |
dwConfidence1f | rightLateralConfidence | |
uint8_t | rightStyle[DW_LANE_CHUNK_SIZE] | Right style. |
uint8_t | rightStyleConfidence[DW_LANE_CHUNK_SIZE] | Style 0-255 confidence. |
dwConfidence1f | rightVerticalConfidence | |
dwTime_t | timestamp_us | Timestamp. |
uint8_t | visibilityConfidenceLeft[DW_LANE_CHUNK_SIZE] | Visibility confidence left. |
uint8_t | visibilityConfidenceRight[DW_LANE_CHUNK_SIZE] | Visibility confidence right. |
struct dwLaneChunkArray |
Data Fields | ||
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dwLaneChunk | chunks[DW_LANE_CHUNK_ARRAY_MAX_COUNT] | |
uint32_t | count |
struct dwLaneRelation |
Data Fields | ||
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dwLaneSegment | first | |
dwLaneSegment | second | |
dwLaneRelationType | type |
struct dwLaneRelationArray |
Data Fields | ||
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uint32_t | count | |
dwLaneRelation | relations[DW_LANE_RELATION_ARRAY_MAX_COUNT] |
struct dwLaneSegment |
Data Fields | ||
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float32_t | entryFraction |
[-1, 1], e.g. pointInBetween = (1 - fraction) * points[vertex] + fraction * points[vertex + 1]; if fraction > 0 pointInBetween = (1 + fraction) * points[vertex] - fraction * points[vertex - 1]; otherwise |
uint32_t | entryVertex | entry point vertex index referencing vertices of lane |
float32_t | exitFraction | [-1, 1] |
uint32_t | exitVertex | exit point vertex index referencing vertices of lane |
bool | isValid | Whether lane segment is valid. |
uint32_t | laneIndex | lane index into dwLaneArray |
struct dwLaneVertex |
Data Fields | ||
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bool | isValid | Whether lane vertex is valid. |
uint32_t | laneIndex | lane index into dwLaneArray |
uint32_t | vertex | vertex index referencing vertices of lane |
#define DW_LANE_ANIMAL_BASE (DW_LANE_IS_VRU + DW_LANE_IS_OTHER_ANIMATE) |
#define DW_LANE_BIKE_BASE (DW_LANE_IS_BIKE + DW_LANE_VRU_BASE) |
#define DW_LANE_CHUNK_SIZE (1u << DW_LANE_CHUNK_SIZE_TWO_LOG) |
#define DW_LANE_CHUNK_SIZE_MASK (DW_LANE_CHUNK_SIZE - 1) |
#define DW_LANE_CHUNK_SIZE_TWO_LOG 3u |
#define DW_LANE_IS_INFRA (1 << 21) |
#define DW_LANE_IS_OTHER_ANIMATE (1 << 17) |
#define DW_LANE_IS_PEDESTRIAN (1 << 20) |
#define DW_LANE_IS_SPECIAL (1 << 22) |
#define DW_LANE_IS_VEHICLE (1 << 16) |
#define DW_LANE_IS_VRU (1 << 18) |
#define DW_LANE_PEDESTRIAN_BASE (DW_LANE_IS_PEDESTRIAN + DW_LANE_VRU_BASE) |
#define DW_LANE_SPECIAL_BASE (DW_LANE_IS_VEHICLE + DW_LANE_IS_SPECIAL) |
#define DW_LANE_TRAIN_BASE (DW_LANE_IS_INFRA + DW_LANE_IS_OTHER_ANIMATE) |
#define DW_LANE_VEHICLE_BASE (DW_LANE_IS_VEHICLE) |
#define DW_LANE_VRU_BASE (DW_LANE_IS_VRU + DW_LANE_IS_OTHER_ANIMATE) |
enum dwLaneClass |
Classification of lanes.
enum dwLaneEdgeClass |
Edge main classes.
Mutually exclusive. Describes a top level classification into five main classes that are tied to actionable outcomes.
enum dwLaneEdgeColor |
Edge color, mutually exclusive. Describes the first encountered from inside lane.
enum dwLaneEdgeStyle |
Edge style, mutually exclusive. Describes the first encountered from inside lane.
enum dwLaneEndType |
The type of lane dwLane begins and end.
enum dwLaneOccupancy |
enum dwLaneRelationType |
Types of relationship between a pair of lane segments.
enum dwLaneTurnsAllowed |
The turn restrictions on a dwLane.