Detailed Description

NVIDIA DriveWorks Datastructure : MapPerception Datastructure

Description: Datastructure containing MapPerception Absolute Pose

Definition in file MapPerceptionTypes.h.

Data Structures
struct	dwMapPerceptionGeoPose
	Data structure to represent absolute GPS Pose in ENU system. More...

enum	dwMapPerceptionLaneMarkType { DW_MAPPERCEPTION_LANETYPE_UNDEFINED = DW_LANEMARK_TYPE_UNDEFINED, DW_MAPPERCEPTION_LANETYPE_SOLID = DW_LANEMARK_TYPE_SOLID, DW_MAPPERCEPTION_LANETYPE_DASHED = DW_LANEMARK_TYPE_LONG_DASHED, DW_MAPPERCEPTION_LANETYPE_ROAD_BOUNDARY = DW_LANEMARK_TYPE_BARRIER, DW_MAPPERCEPTION_LANETYPE_CENTER_PATH = 1000, DW_MAPPERCEPTION_LANETYPE_LEFT_PATH_EDGE = 1001, DW_MAPPERCEPTION_LANETYPE_RIGHT_PATH_EDGE = 1002, DW_MAPPERCEPTION_NUM_LANETYPES = 7 }
	Lane mark types supported by MapPerception. More...

enum	dwMapPerceptionIntersectionType { DW_MAPPERCEPTION_INTERSECTION_TYPE_UNDEFINED = 0, DW_MAPPERCEPTION_INTERSECTION_TYPE_CROSSWALK = 1, DW_MAPPERCEPTION_INTERSECTION_TYPE_INTERSECTION = 2, DW_MAPPERCEPTION_INTERSECTION_TYPE_CROSSINGINTERSECTION = 3, DW_MAPPERCEPTION_INTERSECTION_TYPE_GOREAREA = 4, DW_MAPPERCEPTION_INTERSECTION_TYPE_COUNT = 5 }
	Intersection types supported by MapPerception. More...

enum	dwMapPerceptionRoadMarkType { DW_MAPPERCEPTION_ROADMARK_TYPE_UNDEFINED = 0, DW_MAPPERCEPTION_ROADMARK_TYPE_CROSSWALK = 1, DW_MAPPERCEPTION_ROADMARK_TYPE_INTERSECTION = 2, DW_MAPPERCEPTION_ROADMARK_TYPE_CROSSINGINTERSECTION = 3, DW_MAPPERCEPTION_ROADMARK_TYPE_GOREAREA = 4, DW_MAPPERCEPTION_ROADMARK_TYPE_TEXTSHAPEMARK = 5 }
	Road mark types supported by MapPerception. More...

enum	dwMapPerceptionWaitConditionType { DW_MAPPERCEPTION_WAIT_CONDITION_TYPE_UNDEFINED = 0, DW_MAPPERCEPTION_WAIT_CONDITION_TYPE_STOP_LINE = 1, DW_MAPPERCEPTION_WAIT_CONDITION_TYPE_SIGNAL_LINE = 2, DW_MAPPERCEPTION_WAIT_CONDITION_TYPE_COUNT = 3 }
	Lane mark types supported by MapPerception. More...

enum	dwMapPerceptionSignType { DW_MAPPERCEPTION_SIGNTYPE_UNDEFINED = 0, DW_MAPPERCEPTION_SIGNTYPE_TRAFFICSIGN = 1, DW_MAPPERCEPTION_SIGNTYPE_TRAFFICLIGHT = 2, DW_MAPPERCEPTION_SIGNTYPE_COUNT = 3 }
	Camera sign types supported by MapPerception. More...

enum	dwMapPerceptionTrafficLightState { DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_NOT_FACING_OR_STATELESS = 0, DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_GREEN_DOWN_ARROW = 1, DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_GREEN_LEFT_ARROW = 2, DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_GREEN_RIGHT_ARROW = 3, DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_GREEN_SOLID = 4, DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_GREEN_UP_ARROW = 5, DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_RED_LEFT_ARROW = 6, DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_RED_RIGHT_ARROW = 7, DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_RED_SOLID = 8, DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_YELLOW_LEFT_ARROW = 9, DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_YELLOW_RIGHT_ARROW = 10, DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_YELLOW_SOLID = 11, DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_GREEN_LEFT_ARROW_GREEN_SOLID = 12, DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_GREEN_LEFT_ARROW_RED_SOLID = 13, DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_GREEN_RIGHT_ARROW_GREEN_SOLID = 14, DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_GREEN_RIGHT_ARROW_RED_SOLID = 15, DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_GREEN_SOLID_RED_LEFT_ARROW = 16, DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_GREEN_SOLID_RED_RIGHT_ARROW = 17, DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_RED_LEFT_ARROW_RED_SOLID = 18, DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_RED_RIGHT_ARROW_RED_SOLID = 19, DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_LANE_CLOSED = 20, DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_NOT_A_CAR_LIGHT = 21, DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_RED_SOLID_BLINK = 22, DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_YELLOW_SOLID_BLINK = 23, DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_YELLOW_LEFT_ARROW_BLINK = 24, DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_UNKNOWN = 25, DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_COUNT }
	Traffic light states supported by MapPerception. More...

enum	dwMapPerceptionSpeedbumpType { DW_MAPPERCEPTION_SPEEDBUMP_TYPE_INVALID = 0, DW_MAPPERCEPTION_SPEEDBUMP_TYPE_PITCHOVERVEL = 1, DW_MAPPERCEPTION_SPEEDBUMP_TYPE_PITCHOVERACCEL = 2, DW_MAPPERCEPTION_SPEEDBUMP_TYPE_VERTACCEL = 3, DW_MAPPERCEPTION_SPEEDBUMP_TYPE_CONSOLIDATED = 4 }
	Camera Speed bump types supported by MapPerception. More...

DW_API_PUBLIC dwStatus	dwMapPerceptionGeoPose_default (dwMapPerceptionGeoPose *pose)
	Factory method to generate a default dwMapPerceptionGeoPose object. More...

DW_API_PUBLIC dwStatus	dwMapPerceptionGeoPose_init (dwMapPerceptionGeoPose pose, float64_t latitude, float64_t longitude, float64_t altitude, dwQuaternionf const quaternion, dwMatrix3f const locationCovariance, dwMatrix3f const rotationCovariance)
	Factory method to generate a custom-initialized dwMapPerceptionGeoPose object. More...

DW_API_PUBLIC dwStatus	dwMapPerceptionGeoPose_invalid (dwMapPerceptionGeoPose *pose)
	Factory method to generate an invalid dwMapPerceptionGeoPose object. More...

Data Structure Documentation

◆ dwMapPerceptionGeoPose

struct dwMapPerceptionGeoPose

Data Fields
float64_t	altitude
bool	hasCovariance	Whether locationCovariance and rotationCovariance are valid.
float64_t	latitude
dwMatrix3f	locationCovariance	3x3 covariance (order: lon, lat, alt) in [m]. This order (lon, lat, alt) matches its source: dwEgomotionUncertainty in Egomotion.h.
float64_t	longitude
dwQuaternionf	quaternion	Rotation represented as quaternion (x,y,z,w) [rad] in ENU frame.
dwMatrix3f	rotationCovariance	Rotation is represented as a quaternion; however, here a 3x3 covariance of the equivalent euler angles is given (order: roll, pitch, yaw) in [rad].

Enumeration Type Documentation

◆ dwMapPerceptionIntersectionType

enum dwMapPerceptionIntersectionType

Intersection types supported by MapPerception.

Enumerator
DW_MAPPERCEPTION_INTERSECTION_TYPE_UNDEFINED
DW_MAPPERCEPTION_INTERSECTION_TYPE_CROSSWALK
DW_MAPPERCEPTION_INTERSECTION_TYPE_INTERSECTION
DW_MAPPERCEPTION_INTERSECTION_TYPE_CROSSINGINTERSECTION
DW_MAPPERCEPTION_INTERSECTION_TYPE_GOREAREA
DW_MAPPERCEPTION_INTERSECTION_TYPE_COUNT

Definition at line 74 of file MapPerceptionTypes.h.

◆ dwMapPerceptionLaneMarkType

enum dwMapPerceptionLaneMarkType

Lane mark types supported by MapPerception.

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

Enumerator
DW_MAPPERCEPTION_LANETYPE_UNDEFINED	all other lane markings
DW_MAPPERCEPTION_LANETYPE_SOLID
DW_MAPPERCEPTION_LANETYPE_DASHED
DW_MAPPERCEPTION_LANETYPE_ROAD_BOUNDARY
DW_MAPPERCEPTION_LANETYPE_CENTER_PATH
DW_MAPPERCEPTION_LANETYPE_LEFT_PATH_EDGE
DW_MAPPERCEPTION_LANETYPE_RIGHT_PATH_EDGE
DW_MAPPERCEPTION_NUM_LANETYPES

Definition at line 60 of file MapPerceptionTypes.h.

◆ dwMapPerceptionRoadMarkType

enum dwMapPerceptionRoadMarkType

Road mark types supported by MapPerception.

Enumerator
DW_MAPPERCEPTION_ROADMARK_TYPE_UNDEFINED
DW_MAPPERCEPTION_ROADMARK_TYPE_CROSSWALK
DW_MAPPERCEPTION_ROADMARK_TYPE_INTERSECTION
DW_MAPPERCEPTION_ROADMARK_TYPE_CROSSINGINTERSECTION
DW_MAPPERCEPTION_ROADMARK_TYPE_GOREAREA
DW_MAPPERCEPTION_ROADMARK_TYPE_TEXTSHAPEMARK

Definition at line 86 of file MapPerceptionTypes.h.

◆ dwMapPerceptionSignType

enum dwMapPerceptionSignType

Camera sign types supported by MapPerception.

Enumerator
DW_MAPPERCEPTION_SIGNTYPE_UNDEFINED	undefined
DW_MAPPERCEPTION_SIGNTYPE_TRAFFICSIGN
DW_MAPPERCEPTION_SIGNTYPE_TRAFFICLIGHT
DW_MAPPERCEPTION_SIGNTYPE_COUNT

Definition at line 108 of file MapPerceptionTypes.h.

◆ dwMapPerceptionSpeedbumpType

enum dwMapPerceptionSpeedbumpType

Camera Speed bump types supported by MapPerception.

Enumerator
DW_MAPPERCEPTION_SPEEDBUMP_TYPE_INVALID
DW_MAPPERCEPTION_SPEEDBUMP_TYPE_PITCHOVERVEL
DW_MAPPERCEPTION_SPEEDBUMP_TYPE_PITCHOVERACCEL
DW_MAPPERCEPTION_SPEEDBUMP_TYPE_VERTACCEL
DW_MAPPERCEPTION_SPEEDBUMP_TYPE_CONSOLIDATED

Definition at line 151 of file MapPerceptionTypes.h.

◆ dwMapPerceptionTrafficLightState

enum dwMapPerceptionTrafficLightState

Traffic light states supported by MapPerception.

Enumerator
DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_NOT_FACING_OR_STATELESS
DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_GREEN_DOWN_ARROW
DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_GREEN_LEFT_ARROW
DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_GREEN_RIGHT_ARROW
DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_GREEN_SOLID
DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_GREEN_UP_ARROW
DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_RED_LEFT_ARROW
DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_RED_RIGHT_ARROW
DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_RED_SOLID
DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_YELLOW_LEFT_ARROW
DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_YELLOW_RIGHT_ARROW
DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_YELLOW_SOLID
DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_GREEN_LEFT_ARROW_GREEN_SOLID
DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_GREEN_LEFT_ARROW_RED_SOLID
DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_GREEN_RIGHT_ARROW_GREEN_SOLID
DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_GREEN_RIGHT_ARROW_RED_SOLID
DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_GREEN_SOLID_RED_LEFT_ARROW
DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_GREEN_SOLID_RED_RIGHT_ARROW
DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_RED_LEFT_ARROW_RED_SOLID
DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_RED_RIGHT_ARROW_RED_SOLID
DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_LANE_CLOSED
DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_NOT_A_CAR_LIGHT
DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_RED_SOLID_BLINK
DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_YELLOW_SOLID_BLINK
DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_YELLOW_LEFT_ARROW_BLINK
DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_UNKNOWN
DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_COUNT

Definition at line 118 of file MapPerceptionTypes.h.

◆ dwMapPerceptionWaitConditionType

enum dwMapPerceptionWaitConditionType

Lane mark types supported by MapPerception.

Enumerator
DW_MAPPERCEPTION_WAIT_CONDITION_TYPE_UNDEFINED
DW_MAPPERCEPTION_WAIT_CONDITION_TYPE_STOP_LINE
DW_MAPPERCEPTION_WAIT_CONDITION_TYPE_SIGNAL_LINE
DW_MAPPERCEPTION_WAIT_CONDITION_TYPE_COUNT

Definition at line 98 of file MapPerceptionTypes.h.

Function Documentation

◆ dwMapPerceptionGeoPose_default()

DW_API_PUBLIC dwStatus dwMapPerceptionGeoPose_default ( dwMapPerceptionGeoPose * pose )

Factory method to generate a default dwMapPerceptionGeoPose object.

Parameters

[out] pose The pose resulting from default parameters.

Returns: DW_INVALID_ARGUMENT - if the output parameter pointer is null
DW_SUCCESS

◆ dwMapPerceptionGeoPose_init()

DW_API_PUBLIC dwStatus dwMapPerceptionGeoPose_init	(	dwMapPerceptionGeoPose *	pose,
		float64_t	latitude,
		float64_t	longitude,
		float64_t	altitude,
		dwQuaternionf const *	quaternion,
		dwMatrix3f const *	locationCovariance,
		dwMatrix3f const *	rotationCovariance
	)

Factory method to generate a custom-initialized dwMapPerceptionGeoPose object.

Parameters

[out]	pose	The pose resulting from the input parameters.
[in]	latitude	The latitude.
[in]	longitude	The longitude.
[in]	altitude	The altitude.
[in]	quaternion	The rotation quaternion.
[in]	locationCovariance	The location covariance. If not available, provide nullptr.
[in]	rotationCovariance	The rotation covariance. If not available, provide nullptr.

Returns: DW_INVALID_ARGUMENT - if the output parameter pointer is null
DW_SUCCESS

◆ dwMapPerceptionGeoPose_invalid()

DW_API_PUBLIC dwStatus dwMapPerceptionGeoPose_invalid ( dwMapPerceptionGeoPose * pose )

Factory method to generate an invalid dwMapPerceptionGeoPose object.

Parameters

[out] pose The pose which has invalid value parameters.

Returns: DW_INVALID_ARGUMENT - if the output parameter pointer is null
DW_SUCCESS

Detailed Description

Data Structures

Data Structure Documentation

◆ dwMapPerceptionGeoPose

Enumeration Type Documentation

◆ dwMapPerceptionIntersectionType

◆ dwMapPerceptionLaneMarkType

◆ dwMapPerceptionRoadMarkType

◆ dwMapPerceptionSignType

◆ dwMapPerceptionSpeedbumpType

◆ dwMapPerceptionTrafficLightState

◆ dwMapPerceptionWaitConditionType

Function Documentation

◆ dwMapPerceptionGeoPose_default()

◆ dwMapPerceptionGeoPose_init()

◆ dwMapPerceptionGeoPose_invalid()