LandmarkDetectorTypes.h

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#ifndef DW_PERCEPTION_LANDMARKS_CAMERA_LANDMARKDETECTOR_TYPES_H_
#define DW_PERCEPTION_LANDMARKS_CAMERA_LANDMARKDETECTOR_TYPES_H_

#include <dw/core/Types.h>
#include <dw/worldmodel/LandmarkTypes.h>
#include <dw/worldmodel/LaneGraph.h>

#define DW_LANEMARK_TRACKID_MAX 100
#define DW_LANEMARK_TRACKID_INVALID DW_LANEMARK_TRACKID_MAX + 1

#define DW_LANEMARK_MAX_COUNT 32
#define DW_LANEMARK_POINT_MAX_COUNT 128

#define DW_POLE_DETECTION_MAX_COUNT 32

#define DW_LANDMARK_MAX_COUNT 128
#define DW_LANDMARK_POINT_MAX_COUNT 512

#define DW_ROADMARK_MAX_BBOX_COUNT 64

typedef enum {
    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  

} dwLanePositionType;

typedef struct
{
    uint32_t trackId;

    float32_t confidence;

    dwLanePositionType positionType;

    dwLaneMarkType lineType;

    dwLaneMarkColor lineColor;

    uint32_t numPoints;

    dwVector2f imagePoints[DW_LANEMARK_POINT_MAX_COUNT];

    dwVector2f worldPoints[DW_LANEMARK_POINT_MAX_COUNT];

    float32_t confidenceValues[DW_LANEMARK_POINT_MAX_COUNT];

} dwLaneMarking;

typedef struct dwLaneDetection
{

    uint32_t numLaneMarkings;

    dwLaneMarking laneMarkings[DW_LANEMARK_MAX_COUNT];

    dwTime_t timestamp;

} dwLaneDetection;

// A definition of one pole.
typedef struct dwPole
{
    uint32_t numPoints;

    dwVector2f points[DW_LANDMARK_POINT_MAX_COUNT];
} dwPole;

typedef struct dwPoleDetection
{
    uint32_t numPoles;

    dwPole poles[DW_POLE_DETECTION_MAX_COUNT];
} dwPoleDetection;

typedef struct dwLandmark
{
    uint32_t trackId;

    float32_t confidence;

    uint32_t numPoints;

    dwLandmarkAttribute landmarkAttribute;

    bool isClose;

    dwVector2f imagePoints[DW_LANDMARK_POINT_MAX_COUNT];

    dwVector3f worldPoints[DW_LANDMARK_POINT_MAX_COUNT];
} dwLandmark;

typedef struct dwLandmarkDetection
{
    uint32_t numLandmarks;

    dwLandmark landmarks[DW_LANDMARK_MAX_COUNT];

} dwLandmarkDetection;

typedef struct dwRoadmark
{
    uint32_t trackId;

    uint32_t groupId;

    float32_t confidence;

    float32_t classConfidence;

    dwLaneGraphLaneType laneType;

    dwRoadmarkType roadmarkType;

    dwRectf boundingBoxImage;

    dwRectf boundingBoxWorld;
} dwRoadmark;

typedef struct dwRoadmarkDetection
{
    uint32_t numRoadmarks;

    dwRoadmark roadmarks[DW_ROADMARK_MAX_BBOX_COUNT];

    dwTime_t timestamp;
} dwRoadmarkDetection;

#endif // DW_PERCEPTION_LANDMARKS_CAMERA_LANDMARKDETECTOR_TYPES_H_