MapStreamDataFrame.h

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#ifndef DW_MAPSTREAM_DATAFRAME_H_
#define DW_MAPSTREAM_DATAFRAME_H_

#include <dw/core/Types.h>
#include <dw/world/TrafficSigns.h>
#include <dw/worldmodel/LaneGraph.h>
#include "MapPerceptionTypes.h"
#include <dw/image/Image.h>
#include <dw/perception/landmarks/camera/LandmarkDetectorTypes.h>
#include <dw/perception/mapping/common/UUID.h>

#ifdef __cplusplus
extern "C" {
#endif

#define DW_MAPSTREAM_POLYLINE_MAX_COUNT DW_LANEMARK_POINT_MAX_COUNT
#define DW_MAPSTREAM_INVALID_TRACK_ID -1
#define DW_MAPSTREAM_PROTOBUF_FRAME_FILENAME_EXTENSION "proto"

typedef struct dwMapStreamMetadata
{
    dwMapStreamUUID driveId;
    const char* rigFilename;
} dwMapStreamMetadata;

DW_API_PUBLIC
dwStatus dwMapStreamMetadata_default(dwMapStreamMetadata* metadata);

typedef struct dwMapStreamPolyline
{
    uint32_t pointCount;                                
    dwVector3f points[DW_MAPSTREAM_POLYLINE_MAX_COUNT]; 
} dwMapStreamPolyline;

DW_API_PUBLIC
dwStatus dwMapStreamPolyline_default(dwMapStreamPolyline* params);

typedef struct dwMapStreamCameraLane
{
    dwLanePositionType positionType;

    int32_t trackId;

    dwMapPerceptionLaneMarkType lineType;

    dwMapStreamPolyline geometry;

    dwVector2f covariance[DW_MAPSTREAM_POLYLINE_MAX_COUNT];
} dwMapStreamCameraLane;

DW_API_PUBLIC
dwStatus dwMapStreamCameraLane_default(dwMapStreamCameraLane* lane);

#define DW_MAPSTREAM_INVALID_SIGN_ID 0xFFFFFFFFFFFFFFFF

#define DW_MAPSTREAM_SIGN_GEOMETRY_SIZE 4

typedef struct dwMapStreamCameraSign
{
    uint64_t signId;

    dwMapPerceptionSignType signType;

    uint32_t signClassID;

    dwVector3f signCenter;

    dwMatrix3f signCenterCovariance;

    dwMapStreamPolyline signGeometry;
} dwMapStreamCameraSign;

DW_API_PUBLIC
dwStatus dwMapStreamCameraSign_default(dwMapStreamCameraSign* sign);

typedef struct dwMapStreamCameraTrafficLightState
{
    // Sign identifier.
    uint64_t signId;

    // Light state enumeration value.
    uint32_t state;

} dwMapStreamCameraTrafficLightState;

DW_API_PUBLIC
dwStatus dwMapStreamCameraTrafficLightState_default(dwMapStreamCameraTrafficLightState* trafficLightState);

typedef struct dwMapStreamCameraPole
{
    dwVector3f poleBottom;

    dwMatrix3f poleBottomCovariance;

    dwVector3f poleTop;
} dwMapStreamCameraPole;

DW_API_PUBLIC
dwStatus dwMapStreamCameraPole_default(dwMapStreamCameraPole* pole);

typedef struct dwMapStreamCameraWaitLine
{
    int32_t trackId;

    dwMapPerceptionIntersectionType intersectionType;

    dwMapStreamPolyline geometry;

} dwMapStreamCameraWaitLine;

DW_API_PUBLIC
dwStatus dwMapStreamCameraWaitLine_default(dwMapStreamCameraWaitLine* waitLine);

typedef struct dwMapStreamCameraRoadMark
{
    int32_t id;

    dwMapPerceptionRoadMarkType roadmarkType;

    dwMapStreamPolyline geometry;

    dwMatrix3f covariance[DW_MAPSTREAM_POLYLINE_MAX_COUNT];
} dwMapStreamCameraRoadMark;

DW_API_PUBLIC
dwStatus dwMapStreamCameraRoadMark_default(dwMapStreamCameraRoadMark* roadmark);

typedef struct dwMapStreamCameraWaitConditions
{
    dwMapPerceptionWaitConditionType waitConditionType;

    float32_t distance;
} dwMapStreamCameraWaitConditions;

DW_API_PUBLIC
dwStatus dwMapStreamCameraWaitConditions_default(dwMapStreamCameraWaitConditions* waitConditions);

typedef struct dwMapStreamPathPolyline
{
    uint32_t pointCount;                                         
    dwVector3f centerPoints[DW_MAPSTREAM_POLYLINE_MAX_COUNT];    
    dwVector3f leftEdgePoints[DW_MAPSTREAM_POLYLINE_MAX_COUNT];  
    dwVector3f rightEdgePoints[DW_MAPSTREAM_POLYLINE_MAX_COUNT]; 
} dwMapStreamPathPolyline;

DW_API_PUBLIC
dwStatus dwMapStreamPathPolyline_default(dwMapStreamPathPolyline* pathPolyline);

typedef struct dwMapStreamCameraPath
{
    int32_t trackId;

    dwMapStreamPathPolyline geometry;
} dwMapStreamCameraPath;

DW_API_PUBLIC
dwStatus dwMapStreamCameraPath_default(dwMapStreamCameraPath* paths);

typedef struct dwMapStreamCameraSpeedbumps
{
    dwMapPerceptionSpeedbumpType detectorType;

    float32_t distanceToStart;

    float32_t distanceToEnd;

} dwMapStreamCameraSpeedbumps;
DW_API_PUBLIC
dwStatus dwMapStreamCameraSpeedbumps_default(dwMapStreamCameraSpeedbumps* speedbumps);

#define DW_MAPSTREAM_LIDAR_VERSION_1 1
const uint32_t DW_MAPSTREAM_LIDAR_VERSION_CURRENT = DW_MAPSTREAM_LIDAR_VERSION_1;

#define DW_MAPSTREAM_CAMERA_POINT_CLOUD_VERSION_1 1
const uint32_t DW_MAPSTREAM_CAMERA_POINT_CLOUD_VERSION_CURRENT = DW_MAPSTREAM_CAMERA_POINT_CLOUD_VERSION_1;

#define DW_MAPSTREAM_RADAR_VERSION_1 1
const uint32_t DW_MAPSTREAM_RADAR_VERSION_CURRENT = DW_MAPSTREAM_RADAR_VERSION_1;

typedef struct dwMapStreamLidarLandmarks
{
    uint32_t version;
    uint32_t numPoints; 
    dwVector4f* points; 
} dwMapStreamLidarLandmarks;

DW_API_PUBLIC
dwStatus dwMapStreamLidarLandmarks_default(dwMapStreamLidarLandmarks* lidarlandmarks);

DW_API_PUBLIC
dwStatus dwMapStreamLidarLandmarks_init(dwMapStreamLidarLandmarks* lidarLandmarks,
                                        uint32_t version, uint32_t numPoints, dwVector4f* points);

typedef struct dwMapStreamCameraPointCloud
{
    uint32_t version;
    uint32_t numPoints; 
    dwVector4f* points; 
} dwMapStreamCameraPointCloud;

DW_API_PUBLIC
dwStatus dwMapStreamCameraPointCloud_default(dwMapStreamCameraPointCloud* cameraPointCloud);

DW_API_PUBLIC
dwStatus dwMapStreamCameraPointCloud_init(dwMapStreamCameraPointCloud* cameraPointCloud, uint32_t version, uint32_t numPoints, dwVector4f* points);

typedef struct dwMapStreamRadarLandmarks
{
    uint32_t version;
    uint32_t numPoints; 
    dwVector4f* points; 
} dwMapStreamRadarLandmarks;

DW_API_PUBLIC
dwStatus dwMapStreamRadarLandmarks_default(dwMapStreamRadarLandmarks* radarLandmarks);

DW_API_PUBLIC
dwStatus dwMapStreamRadarLandmarks_init(dwMapStreamRadarLandmarks* radarLandmarks,
                                        uint32_t version, uint32_t numPoints, dwVector4f* points);

#define DW_MAPSTREAM_CAMERA_VERSION_1 1
#define DW_MAPSTREAM_CAMERA_VERSION_2 2 
#define DW_MAPSTREAM_CAMERA_VERSION_3 3 
#define DW_MAPSTREAM_CAMERA_VERSION_4 4 
const uint32_t DW_MAPSTREAM_CAMERA_VERSION_CURRENT = DW_MAPSTREAM_CAMERA_VERSION_4;

#define DW_MAPSTREAM_LANE_MAX_COUNT DW_LANEMARK_MAX_COUNT
#define DW_MAPSTREAM_SIGNS_MAX_COUNT 20
#define DW_MAPSTREAM_TRAFFIC_LIGHT_STATES_MAX_COUNT 40
#define DW_MAPSTREAM_POLES_MAX_COUNT 20
#define DW_MAPSTREAM_WAITLINES_MAX_COUNT 20
#define DW_MAPSTREAM_ROADMARKS_MAX_COUNT DW_LANDMARK_MAX_COUNT
#define DW_MAPSTREAM_WAIT_CONDITIONS_MAX_COUNT 10
#define DW_MAPSTREAM_PATHS_MAX_COUNT DW_LANEGRAPH_MAX_LANE_CNT_IN_LANEGRAPH
#define DW_MAPSTREAM_SPEEDBUMPS_MAX_COUNT 4
#define DW_MAPSTREAM_IMAGE_FILENAME_MAX_LENGTH 100

typedef struct dwMapStreamCameraLandmarks
{
    uint32_t version;
    uint32_t numLanes;                                        
    dwMapStreamCameraLane lanes[DW_MAPSTREAM_LANE_MAX_COUNT]; 
    uint32_t numSigns;
    dwMapStreamCameraSign signs[DW_MAPSTREAM_SIGNS_MAX_COUNT]; 
    uint32_t numTrafficLightStates;
    dwMapStreamCameraTrafficLightState trafficLightStates[DW_MAPSTREAM_TRAFFIC_LIGHT_STATES_MAX_COUNT];
    uint32_t numPoles;
    dwMapStreamCameraPole poles[DW_MAPSTREAM_POLES_MAX_COUNT];
    uint32_t numWaitLines;
    dwMapStreamCameraWaitLine waitLines[DW_MAPSTREAM_WAITLINES_MAX_COUNT];
    uint32_t numRoadMarks;
    dwMapStreamCameraRoadMark roadmarks[DW_MAPSTREAM_ROADMARKS_MAX_COUNT];
    uint32_t numWaitConditions;
    dwMapStreamCameraWaitConditions waitConditions[DW_MAPSTREAM_WAIT_CONDITIONS_MAX_COUNT];
    uint32_t numPaths;
    dwMapStreamCameraPath paths[DW_MAPSTREAM_PATHS_MAX_COUNT];
    uint32_t numSpeedbumps;
    dwMapStreamCameraSpeedbumps speedbumps[DW_MAPSTREAM_SPEEDBUMPS_MAX_COUNT];
    char imageFilename[DW_MAPSTREAM_IMAGE_FILENAME_MAX_LENGTH];
} dwMapStreamCameraLandmarks;

DW_API_PUBLIC
dwStatus dwMapStreamCameraLandmarks_default(dwMapStreamCameraLandmarks* cameraLandmarks);

typedef enum {
    DW_MAPSTREAM_CAMERA_SUBSTREAM             = 0,
    DW_MAPSTREAM_LIDAR_SUBSTREAM              = 1,
    DW_MAPSTREAM_RADAR_SUBSTREAM              = 2,
    DW_MAPSTREAM_CAMERA_POINT_CLOUD_SUBSTREAM = 3,
    DW_MAPSTREAM_NUM_SUBSTREAMS               = 4,
} dwMapstreamSubstreamType;

typedef struct dwMapStreamLandmarks
{
    bool cameraValid;
    dwMapStreamCameraLandmarks cameraLandmarks;
    bool cameraPointCloudValid;
    dwMapStreamCameraPointCloud cameraPointCloud;
    bool lidarValid;
    dwMapStreamLidarLandmarks lidarLandmarks;
    bool radarValid;
    dwMapStreamRadarLandmarks radarLandmarks;
} dwMapStreamLandmarks;

DW_API_PUBLIC
dwStatus dwMapStreamLandmarks_default(dwMapStreamLandmarks* landmarks);

typedef struct dwMapStreamOutput
{
    uint32_t driveId;   
    dwTime_t timestamp; 

    dwMapPerceptionGeoPose gpsPose; 

    dwTransformation3f relativePose;
    bool isRelativePoseValid;

    bool isRelativePoseCovarianceValid;       
    dwMatrix3f relativeTranslationCovariance; 
    dwMatrix3f relativeRotationCovariance;    

    dwMapStreamLandmarks* landmarksBuffer;
} dwMapStreamOutput;

DW_API_PUBLIC
dwStatus dwMapStreamOutput_default(dwMapStreamOutput* output);

#ifdef __cplusplus
}
#endif

#endif // DW_MAPSTREAM_DATAFRAME_H_