API Documentation

Structures

Sensor Module Data Structures

ps_sensor_descriptor

Standard sensor descriptor. This will identify a sensor and describes its coordinate frame.

Data Type Name Description
ps_identifier id Identifier, in most cases this is the serial number. Value PSYNC_SENSOR_ID_INVALID means invalid.
ps_sensor_kind type PolySync sensor type. Value PSYNC_SENSOR_KIND_INVALID means invalid. Value PSYNC_SENSOR_KIND_NOT_AVAILABLE means type not available.
ps_transform_stack transform Transform that describes this data’s coordinate frame.

ps_lidar_point

Generic 3D LiDAR point. This describes a LiDAR point in 3D space. All coordinate data is in the parent frame, see ps_sensor_descriptor.

Data Type Name Description
DDS_float position Position of point. Value PSYNC_FLOAT_POSITION_NOT_AVAILABLE means given axis component not available. [xyz meters]
DDS_octet intensity Intensity of point. Value zero means intensity not known or not available. Value one means lowest intensity. Value 255 (0xFF) means highest intensity.

ps_radar_target

Radar provided target. This describes a target or track being estimated based on radar data. Validity is determined using the ps_radar_target.track_status value. All coordinate data is in the parent frame, see ps_sensor_descriptor.

Data Type Name Description
ps_identifier id Identifier. If this is a track, this provides the track identifier.
ps_timestamp timestamp Last update timestamp.
DDS_double position Position of target. Value PSYNC_POSITION_NOT_AVAILABLE means given axis component not available. [xyz meters]
DDS_double size Size of target. Value PSYNC_SIZE_NOT_AVAILABLE means given axis component not available. [xyz meters]
DDS_double velocity Velocity of target. Value PSYNC_VELOCITY_NOT_AVAILABLE means given axis component not available. [xyz meters/second]
DDS_double range_rate Range rate (or sometimes the Doppler velocity) of target. Value PSYNC_VELOCITY_NOT_AVAILABLE means not available. [meters/second]
ps_track_status_kind track_status If this target is a track, this provides its status if supported. Value TRACK_STATUS_RAW_TARGET means this is a raw target/measurement and not a track.
ps_range_kind range_type Target range type.
ps_zone_kind zone_type Target zone type.
ps_quality_kind quality Target quality.
DDS_double amplitude Target amplitude. Value PSYNC_AMPLITUDE_NOT_AVAILABLE means not available. [decibels]
DDS_double magnitude Target magnitude. Value PSYNC_MAGNITUDE_NOT_AVAILABLE means not available. [decibels]
DDS_double alias Target range rate alias (or sometimes the Doppler alias) of target relative to the parent coordinate frame. Value PSYNC_VELOCITY_ALIAS_NOT_AVAILABLE means not available. [meters/second]
DDS_double cross_section Target radar cross section. Value PSYNC_RADAR_CROSS_SECTION_NOT_AVAILABLE means not available. [meters^2]
DDS_unsigned_long scan_index Target scan index. Value zero means unknown or not available.

ps_object

Generic spatial object. This describes a generic spatial object. All coordinate data is in the parent frame, see ps_sensor_descriptor.

Data Type Name Description
ps_identifier id Identifier from tracking.
ps_timestamp timestamp Last update timestamp.
ps_native_timestamp native_timestamp Native timestamp associated with the last update. Provided by some devices. Check ps_native_timestamp.format for meaning. Format value PSYNC_NATIVE_TIMESTAMP_FORMAT_INVALID means not available.
DDS_double position [3] Position of object. Value PSYNC_POSITION_NOT_AVAILABLE means given axis component not available. [xyz meters]
DDS_double size [3] Size of object. Value PSYNC_SIZE_NOT_AVAILABLE means given axis component not available. [xyz meters]
DDS_double velocity [3] Velocity of object. Value PSYNC_VELOCITY_NOT_AVAILABLE means given axis component not available. [xyz meters/second]
DDS_double course_angle Orientation/heading of the object. Value PSYNC_HEADING_NOT_AVAILABLE means value not available. [radians]
ps_object_classification_kind classification Most likely classification of the object.
ps_quality_kind classification_quality Classification quality. The higher the quality, the more reliable the object classification is.

ps_lane_model

Lane model. This describes a lane model. Validity is determined using the ps_lane_model.quality value. All coordinate data is in the parent frame, see ps_sensor_descriptor.

Coefficients used in the formulas for handling lane model data are conditioned:

Formula for deriving lateral (y) distance from longitudinal (x) distance:

Formula for lane marker curvature at longitudinal (x) distance:

Formula for road radius ® from curvature:

Data Type Name Description
ps_timestamp timestamp Last update timestamp.
ps_native_timestamp native_timestamp Native timestamp associated with the last update. Provided by some devices. Check ps_native_timestamp.format for meaning. Format value PSYNC_NATIVE_TIMESTAMP_FORMAT_INVALID means not available.
ps_quality_kind quality Detection quality for the lane, used to indicate lane validity. Value QUALITY_INVALID means lane is invalid.
ps_lane_marker_kind marker_type Marker/boundary type. Value LANE_MARKER_UNKNOWN means undecided.
ps_lane_curve_model_kind model_type Lane curve model type.
DDS_double marker_width Marker width. Value PSYNC_SIZE_NOT_AVAILABLE means not available. [meters]
DDS_double heading_angle Angle of the marker. Value PSYNC_HEADING_NOT_AVAILABLE means value not available. [radians]
DDS_double view_range Visible range of the marker. Value PSYNC_POSITION_NOT_AVAILABLE means not available. [meters]
DDS_double marker_offset Lateral position/offset of the marker. Value PSYNC_POSITION_NOT_AVAILABLE means not available. [meters]
DDS_double curvature Curvature of the lane. Value PSYNC_HEADING_NOT_AVAILABLE means not available. [1/meters]
DDS_double curvature_derivative Curvature derivative of the lane. Value PSYNC_HEADING_NOT_AVAILABLE means not available. [1/meters^2]
ps_timestamp time_to_crossing Time to lane crossing. Value zero means not valid. [microseconds]

ps_traffic_sign

Traffic sign. This describes a traffic sign. All coordinate data is in the parent frame, see ps_sensor_descriptor.

Data Type Name Description
ps_timestamp timestamp Last update timestamp.
ps_native_timestamp native_timestamp Native timestamp associated with the last update. Provided by some devices. Check ps_native_timestamp.format for meaning. Format value PSYNC_NATIVE_TIMESTAMP_FORMAT_INVALID means not available.
ps_traffic_sign_kind type Sign type. Value TRAFFIC_SIGN_INVALID means no sign detected.
ps_supplementary_sign_kind supplementary_type Supplementary type associated with the sign. Value SUPPLEMENTARY_SIGN_NOT_AVAILABLE means not available.
ps_traffic_sign_unit_kind speed_units Traffic sign units.
DDS_double position [3] Position of the sign. Value PSYNC_POSITION_NOT_AVAILABLE means given axis component not available. [xyz meters]