30 #ifndef DW_WORLD_OBJECT_H_ 31 #define DW_WORLD_OBJECT_H_ 72 #define DW_OBJECT_MAX_FUSED_PARENT_OBJECT_COUNT 6 73 #define DW_OBJECT_MAX_BOUNDARY_POINT_COUNT 30 111 #define DW_OBJECT_IN_PATH_ANALYZER_MAX_LANE_COUNT 32 128 DW_DEPRECATED(
"Use dwCoordinateSystem from dw/rig/CoordinateSystem.h")
231 #define DW_OBJECT_CUBOID_2D_COUNT 8 232 #define DW_OBJECT_MAX_SUBCLASS_COUNT_PER_CLASS 3 233 #define DW_OBJECT_MAX_SENSOR_COUNT 20 234 #define DW_OBJECT_MAX_CAMERA_COUNT 7 235 #define DW_OBJECT_MAX_RADAR_COUNT 1 406 #define MAX_FREESPACE_BOUNDARY_POINT_COUNT 10 * MAX_OBJECT_BOUNDARY_POINT_COUNT 552 #endif // DW_WORLD_OBJECT_H_
dwObstacle obstacle
The original obstacle.
dwObjectState objectState
DW_API_PUBLIC dwStatus dwObjectLidar_reset(dwObjectLidar *object)
Resets the fields of the given object to their initial state.
float32_t distance_m
Radial distance (in meter) from host car to object.
dwVector2f imageVelocity
BBOX speed in pixel/sec.
bool isInverseTTCValid
is iTTC valid?
dwObjectGeneric details
The original object.
uint32_t dominantLaneAssignment
The index of dominant lane assignment.
float32_t confidence
Object estimate confidence.
uint64_t id
The id of the object.
NVIDIA DriveWorks API: World Model Lane Assignment
bool isGeometricFittingValid
Flag to indicated whether the scale and translation are valid.
float float32_t
Specifies POD types.
float32_t rearMarker25D
Rear marker 2.5D.
DW_API_PUBLIC dwStatus dwObjectFreespace_reset(dwObjectFreespace *object)
Resets the fields of the given object to their initial state.
float32_t vehicleConfidence
bool isElevationValid
Elevation validity flag.
dwTime_t timestamp_us
The time of creation (us).
NVIDIA DriveWorks API: Radar
dwObjectGeneric details
The original object.
dwObjectClass objectClass
The detected class of object.
dwCoordSystem
Coordinate systems used by dwObjectGeneric.
Defines a AABB bounding box 2D.
Defines a three-element floating-point vector.
Defines a two-element single-precision floating-point vector.
uint32_t boundaryPointCount
The number of points in the boundary.
Defines a AABB bounding box 3D.
bool isInverseTTCValid
is iTTC valid?
float32_t inverseTimeToCollision_s
The inverse time to collision (1/s)
dwObstacle obstacle
The original obstacle.
dwVector3f rotation
Rotation of the object in the given coordinate system (r, p, y) (rad)
dwLaneGraphLaneType
The type of a lane.
bool isObjectInFrame
Object bounding boxes is fully visible, i.e., not touching image boundary.
uint32_t imageVelocityTempBaseline
The temporal baseline of the imageVelocity.
uint32_t sensorId
Sensor ID.
dwObstacle obstacle
The original obstacle.
float32_t scaleFactor
Scale factor change from the previous frame.
DW_API_PUBLIC dwStatus dwObjectGeneric_toObstacleLaneAssignment(dwObstacleLaneAssignment *out, const dwObjectGeneric *in)
Copy lane assignment from dwObjectGeneric to dwObstacleLaneAssignment.
DW_API_PUBLIC dwStatus dwObjectFused_reset(dwObjectFused *object)
Resets the fields of the given object to their initial state.
DW_COORDINATE_SYSTEM_CUSTOM represents any arbitrary coordinate system that the developer wants to us...
float32_t azimuthRight_r
azimuth angle from host car to object bottom right(flat ground plane assumption)
dwSignClass processedSignType
Object lane span data structure.
float32_t longitudinalVelocity
NVIDIA DriveWorks API: Core Methods
dwVector2f visibility25D
Visibility of the bounding box.
dwVector3f rearPoint
rear boundary point (on LaneGraph) of the object lane span along the travel direction ...
float32_t ratio
The amount of object pixel overlap in lane.
float32_t classConfidence
A float value from 0.0 to 1.0 indicating how confident the objectClass is.
dwTime_t timestamp_us
Timestamp.
dwVector3f anchorPoint
the anchor point (origin) which represents the start point of the distance calculation ...
float32_t occlusionConfidence
The occlusion confidence score.
uint32_t laneId
The lane id.
dwTrafficLightClass rawLightType
Data structure representing an oriented bounding box in the local object coordinate frame The box is ...
float32_t predictedRatio
The amount of predicted object pixel overlap in lane.
float32_t angularVelocityZ
float32_t azimuth_r
azimuth angle from host car to object (flat ground plane assumption)
float32_t pointRearMarker25D
indicates point on vertical rear marker line for visualization of 2.5D orientation ...
dwStatus
Status definition.
NVIDIA DriveWorks API: Sensors
uint32_t globalLaneID
ID of the lane which this object lane span occupies.
DW_API_PUBLIC dwStatus dwObjectCamera_reset(dwObjectCamera *object)
Resets the fields of the given object to their initial state.
float32_t curvature
Signed inverse radius of fitted circle, 0 if angular velocity estimate is not available.
uint32_t objectSubClass
The sub class of the object.
bool isVelInTempBaselineValid
Flag to indicate whether the computed velocity in the temoporal baseline is valid.
uint32_t age
Age of the object track (camera frames)
float32_t orientation25D_r
2.5D Orientation in sensor space (rads)
#define DW_OBJECT_MAX_BOUNDARY_POINT_COUNT
The maximum size of an object shape.
NVIDIA DriveWorks API: LaneGraph
float32_t azimuthLeft_r
azimuth angle from host car to object bottom left(flat ground plane assumption)
uint32_t sensorId
Sensor ID that allows to retrieve coord.
NVIDIA DriveWorks API: Traffic Sign types enum
dwRadarDynamicState
Defines the dynamic state of the radar return.
float32_t radius
Distance along the line of sight.
DW_API_PUBLIC dwStatus dwObjectGeneric_toObstacle(dwObstacle *out, const dwObjectGeneric *in)
Copy obstacle from dwObjectGeneric to dwObstacle.
#define DW_OBJECT_MAX_SUBCLASS_COUNT_PER_CLASS
int64_t dwTime_t
Specifies a timestamp unit, in microseconds.
#define DW_OBJECT_IN_PATH_ANALYZER_MAX_LANE_COUNT
The max number of lanes that can be processed.
float32_t orientation_r
Object orientation with respect to rig (rad)
dwObstacle obstacle
The original obstacle.
dwVector3f position
Position of the object in the given coordinate system (m).
DW_API_PUBLIC dwStatus dwObjectGeneric_fromObstacle(dwObjectGeneric *out, const dwObstacle *in)
Copy lane assignment to dwObjectGeneric from dwObstacle.
dwObjectState
Object kinematic state.
#define DW_DEPRECATED(msg)
float32_t frontDistance
displacement integration along the lane polyline between lane span's front boundary to the anchor poi...
float32_t depth_m
depth ~= distance*cos(azimuth)
dwSignClass
Legacy-models type of a sign (to be depricated).
bool isOccludedDNN
Final decision of object occlusion using DNN confidence.
dwObjectLaneAssignmentList laneAssignments
The lane assignments for this object.
uint32_t clusterCount
Vote count of clustering method.
float32_t pointFrontMarker25D
indicates point on vertical front marker line for visualization of 2.5D orientation ...
dwTrafficSignalType
Traffic signal major type selector - either light, sign, or VMS.
dwVector3f dimensions
Dimensions of the object in the given coordinate system (h, w, l) with "details.position" as the cent...
float32_t frontMarker25D
Front marker 2.5D.
bool isOccluded
Final decision of object occlusion.
#define DW_OBJECT_MAX_SENSOR_COUNT
float32_t fittedCircleRadius
NVIDIA DriveWorks API: Coordinate Systems
bool isInverseTTCValid
is iTTC valid?
bool isSmall
Is a small Object?
dwRadarDynamicState dynamicState
Dynamic state of object(Stationary/Moving/Oncoming/CrossTraffic)
dwCoordinateSystem
Coordinate systems.
dwRectf box2D
Bounding box.
dwVector2f velocityInTempBaseline
Intermediate ground velocity (m/s). It is computed by using the frames in imageVelocityTempBaseline.
Object lane assignment list.
float32_t inverseTimeToCollision_s
The inverse time to collision (s)
DW_COORDINATE_SYSTEM_LOCAL is a local coordinate system with origin at an arbitrary point in the worl...
uint32_t age
Age of object track.
float32_t velocityConfidence
A float value from 0.0 to 1.0 indicating how confident the velocity is.
float32_t confidence
Object estimate confidence.
#define DW_OBJECT_CUBOID_2D_COUNT
Information about a base object.
float32_t rearDistance
displacement integration along the lane polyline between lane span's rear boundary to the anchor poin...
dwTrafficLightClass processedLightType
float32_t inverseTimeToCollision_s
The inverse time to collision (s)
DW_API_PUBLIC dwStatus dwObjectGeneric_fromObstacleLaneAssignment(dwObjectGeneric *out, const dwObstacleLaneAssignment *in)
Copy lane assignment to dwObjectGeneric from dwObstacleLaneAssignment.
float32_t azimuth_r
Azimuth angle in radians from host car to object.
dwVector2f anchor
Anchor point for fence estimation.
float32_t urgency
Urgency (iTTC)
uint32_t count
The count of lane assignments.
DW_API_PUBLIC dwStatus dwObjectRadar_reset(dwObjectRadar *object)
Resets the fields of the given object to their initial state.
dwVector3f frontPoint
front boundary point (on LaneGraph) of the object lane span along the travel direction ...
float32_t radialVelocity
Velocity along the line of sight.
DW_COORDINATE_SYSTEM_VEHICLE_BASE is the vehicle coordinate system attached to the primary body suppo...
DW_API_PUBLIC dwStatus dwObjectGeneric_reset(dwObjectGeneric *object)
Resets the fields of the given object to their initial state.
dwVector3f velocity
The velocity of the object in the given coordinate system (m/s).
dwObstacle obstacle
The original obstacle.
dwTrafficLightClass
Type of a light output combining independent vector outputs.
bool isUrgencyValid
Whether urgency value is valid.
DW_COORDINATE_SYSTEM_SENSOR is the local coordinate system each sensor uses.
dwCoordinateSystem coordSystem
Coord system.
dwLaneGraphLaneType type
The lane type.
dwCoordinateSystem coordSystem
uint32_t clusterCount
Number of elements in the cluster.
NVIDIA DriveWorks API: World Module
dwOrientedBoundingBox3f cuboid3D
3D cuboid. Coordinate system is virtual sensor coordinate.
dwObjectClass
Object classes known to DriveWorks.
dwVector2f velocityDirection
Direction of the linear velocity computed from estimated angular velocity.
dwVector2f fittedCircleCenter
float32_t occlusionConfidenceDNN
The occlusion confidence by DNN.
DW_COORDINATE_SYSTEM_WORLD is used for map/earth coordinates and is defined by the World Geodetic Sys...
dwVector3f velocityRelative
The velocity relative to the ego car in rig coordinate system (m/s)
uint32_t laneSpansCount
Number of lane spans associated with this object.
uint32_t sensorId
Sensor ID.