30 #ifndef DW_WORLD_OBSTACLE_H_ 31 #define DW_WORLD_OBSTACLE_H_ 65 #define DW_OBSTACLE_BOUNDARY_POINT_MAX_COUNT 30u 78 #define DW_OBSTACLE_STATE_NOTMOVING (1 << 8) 79 #define DW_OBSTACLE_STATE_MOVING (1 << 9) 125 #define DW_OBSTACLE_CLASS_IS_ANIMATE (1 << 8) 126 #define DW_OBSTACLE_CLASS_IS_VIRTUAL (1 << 9) 127 #define DW_OBSTACLE_CLASS_IS_VEHICLE (1 << 10) 128 #define DW_OBSTACLE_CLASS_IS_BIKE (1 << 11) 129 #define DW_OBSTACLE_CLASS_IS_PEDESTRIAN (1 << 12) 130 #define DW_OBSTACLE_CLASS_IS_ANIMAL (1 << 13) 131 #define DW_OBSTACLE_CLASS_IS_OBJECT (1 << 14) 132 #define DW_OBSTACLE_CLASS_IS_UNDEFINED (1 << 15) 134 #define DW_OBSTACLE_CLASS_VEHICLE_BASE \ 136 DW_OBSTACLE_CLASS_IS_VEHICLE + DW_OBSTACLE_CLASS_IS_ANIMATE 137 #define DW_OBSTACLE_CLASS_BIKE_BASE \ 138 DW_OBSTACLE_CLASS_IS_BIKE + DW_OBSTACLE_CLASS_IS_ANIMATE 139 #define DW_OBSTACLE_CLASS_PEDESTRIAN_BASE \ 140 DW_OBSTACLE_CLASS_IS_PEDESTRIAN + DW_OBSTACLE_CLASS_IS_ANIMATE 141 #define DW_OBSTACLE_CLASS_ANIMAL_BASE \ 142 DW_OBSTACLE_CLASS_IS_ANIMAL + DW_OBSTACLE_CLASS_IS_ANIMATE 143 #define DW_OBSTACLE_CLASS_OBJECT_BASE DW_OBSTACLE_CLASS_IS_OBJECT 144 #define DW_OBSTACLE_CLASS_UNDEFINED_STATIC_BASE DW_OBSTACLE_CLASS_IS_UNDEFINED 145 #define DW_OBSTACLE_CLASS_UNDEFINED_ANIMATE_BASE \ 146 DW_OBSTACLE_CLASS_IS_UNDEFINED + DW_OBSTACLE_CLASS_IS_ANIMATE 243 #define DW_OBSTACLE_MAX_SENSOR_COUNT 64 289 #define DW_OBSTACLE_ARRAY_MAX_COUNT 1000 297 #define DW_OBSTACLE_MAX_LINKS 16 320 #define DW_OBSTACLE_SILHOUETTE_MAX_POINTS 128 329 #define DW_OBSTACLE_SILHOUETTE_MAX_VERTICES DW_OBSTACLE_SILHOUETTE_MAX_POINTS* \ 330 DW_OBSTACLE_ARRAY_MAX_COUNT 373 #define DW_OBSTACLE_SECTOR_MAX_SEGMENTS 10 374 #define DW_OBSTACLE_RDF_MAX_SECTORS 4000 416 #endif // DW_WORLD_OBSTACLE_H_ dwConfidence3f accelerationConfidence
#define DW_OBSTACLE_BOUNDARY_POINT_MAX_COUNT
dwObstacleStateFlags stateFlags
Hints (turn signals, brake lights)
dwTime_t timestamp_us
Timestamp.
float32_t height_m
Maximum height of obstacle.
Additional states flags for moving objects expressing intention of maneuver.
Region with static obstacles.
Blinking/hand-signal left.
float float32_t
Specifies POD types.
NVIDIA DriveWorks API: Radar
#define DW_OBSTACLE_ARRAY_MAX_COUNT
#define DW_OBSTACLE_SECTOR_MAX_SEGMENTS
If this bit is set, obstacle is low confidence, recommended to filter, provided for fusion purposes...
Covered by an actor that could move.
dwConfidence1f traversalSpeedConfidence
Defines a three-element floating-point vector.
Obstacle signaling to us.
dwVector3f boundaryPoints[DW_OBSTACLE_BOUNDARY_POINT_MAX_COUNT]
Shape information. Non-closed polyline encoded by 3D vertices.
small animal (bird,squirrel,cat)
dwObstacleArray can be paired with link array information which provides access information across mu...
float32_t clearance_m
Minimum clearance.
uint64_t sensorIdMask
Bitmask indicating which sensors agreed with this obstacle detection.
dwVector3f rotationAxis
Unit rotation axis at reference.
States of incomplete knowledge about those underlying states Could be static/animate, don’t know which.
uint32_t count
of valid linkages of obstacle
dwVector3f position
A reference point on the obstacle.
NVIDIA DriveWorks API: Core Methods
#define DW_OBSTACLE_CLASS_IS_VIRTUAL
non physical obstacles mask
Our strategy for uncertainty representation is to give classification confidence scalars for classifi...
uint32_t nVertices
Number of vertices in this silhouette.
float32_t angleMax_r
angle where last sector ends.
float32_t subclassConfidence
Subclassification confidence.
#define DW_OBSTACLE_CLASS_ANIMAL_BASE
uint32_t segmentCount
Actual number of segments.
For every obstacle, link information provides necessary info to access related obstacles across multi...
dwConfidence1f rotationVelConfidence
DW_API_PUBLIC dwStatus dwObstacle_reset(dwObstacle *obstacle)
Resets the fields of dwObstacle.
dwTime_t timestamp_us
Timestamp for this obstacle in host clock.
#define DW_OBSTACLE_CLASS_OBJECT_BASE
float32_t classConfidence
Classification confidence.
dwStatus
Status definition.
NVIDIA DriveWorks API: Sensors
#define DW_OBSTACLE_STATE_NOTMOVING
Bitmasks modifiers of obstacle state.
float32_t angleMin_r
angle where first sector starts.
float32_t rotationVel_rps
Rotational velocity in radians/sec.
dwVector3f velocity_mps
Velocity of reference point in m/s.
Three basic actual underlying states.
float32_t traversalSpeed_mps
Maximum velocity that it is physically advised to move over this obstacle (used for speed bumps...
dwConfidence3f directionConfidence
int64_t dwTime_t
Specifies a timestamp unit, in microseconds.
float32_t confidence
Confidence that obstacle exists.
uint64_t sourceIdMask
Bitmask indicating which sources agree.
#define DW_OBSTACLE_SILHOUETTE_MAX_POINTS
medium animal (like a large dog)
Could be drivable/static, don’t know which.
Could be drivable/animate, don’t know which.
uint32_t sectorCount
Actual number of sectors.
dwObjectClass objectClass
Class information.
#define DW_OBSTACLE_CLASS_UNDEFINED_STATIC_BASE
dwConfidence3f rotationAxisConfidence
int32_t endIndex
dwObstacleArray index of dwObstacle that ends the segment. Negative if none.
#define DW_OBSTACLE_SILHOUETTE_MAX_VERTICES
dwObstacleState state
Obstacle State (stopped/in motion)
dwConfidence3f velocityConfidence
dwVector3f direction
Forward direction.
dwObstacleClass
Obstacle class enumeration.
dwConfidence1f clearanceConfidence
(used for overhangs, zero otherwise)
Region for which we have no knowledge.
dwObstacleRegionClass regionClass
Class of this region.
uint64_t id
Object ID for tracking purposes.
dwObstacleClass obstacleClass
Obstacle class.
float32_t classConfidence
Region class confidence.
dwConfidence3f positionConfidence
#define DW_OBSTACLE_STATE_MOVING
uint64_t obstacleId
Obstacle ID.
large animal (horse,cow,deer,moose)
#define DW_OBSTACLE_CLASS_UNDEFINED_ANIMATE_BASE
dwVector3f acceleration_mps2
Acceleration of ref point in m/s^2.
#define DW_OBSTACLE_CLASS_PEDESTRIAN_BASE
dwObjectClass
Object classes known to DriveWorks.
dwConfidence1f heightConfidence
#define DW_OBSTACLE_CLASS_BIKE_BASE
uint64_t endObstacleId
corresponding dwObstacle’s id
#define DW_OBSTACLE_CLASS_VEHICLE_BASE
Base offsets for object classes.
uint32_t boundaryPointCount
The number of boundary points.
#define DW_OBSTACLE_MAX_LINKS
#define DW_OBSTACLE_RDF_MAX_SECTORS