package trajdata

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View/edit binary Protocol Buffers messages

Used in: VectorizedMap

• bytes id = 1

  A unique ID to identify this element.

• oneof element_data

  Type specific data.

  • RoadLane road_lane = 2

  • RoadArea road_area = 3

  • PedCrosswalk ped_crosswalk = 4

  • PedWalkway ped_walkway = 5

Used in: MapElement

• optional Polyline polygon = 1

  The polygon defining the outline of the crosswalk. The polygon is assumed to be closed (i.e. a segment exists between the last point and the first point).

Used in: MapElement

• optional Polyline polygon = 1

  The polygon defining the outline of the pedestrian walkway (e.g., sidewalk). The polygon is assumed to be closed (i.e. a segment exists between the last point and the first point).

Used in: VectorizedMap

• double x = 1

• double y = 2

• double z = 3

Used in: PedCrosswalk, PedWalkway, RoadArea, RoadLane

• repeated sint32 dx_mm = 1

  Position deltas in millimeters. The origin is an arbitrary location. From https://github.com/woven-planet/l5kit/blob/master/l5kit/l5kit/data/proto/road_network.proto#L446 The delta for the first point is just its coordinates tuple, i.e. it is a "delta" from the origin. For subsequent points, this field stores the difference between the point's coordinates and the previous point's coordinates. This is for representation efficiency.

• repeated sint32 dy_mm = 2

• repeated sint32 dz_mm = 3

• repeated double h_rad = 4

Used in: MapElement

• optional Polyline exterior_polygon = 1

  The polygon defining the outline of general driveable area. This acts as a catch-all when there's a road segment without lane information. For example, intersections in nuScenes are not "lanes".

• repeated Polyline interior_holes = 2

  The area within these polygons is NOT included.

Used in: MapElement

• optional Polyline center = 1

  The polyline data for the lane. A polyline is a list of points with segments defined between consecutive points.

• optional Polyline left_boundary = 2

  The polyline data for the (optional) left boundary of this lane.

• optional Polyline right_boundary = 3

  The polyline data for the (optional) right boundary of this lane.

• repeated bytes entry_lanes = 4

  A list of IDs for lanes that this lane may be entered from.

• repeated bytes exit_lanes = 5

  A list of IDs for lanes that this lane may exit to.

• repeated bytes adjacent_lanes_left = 6

  A list of neighbors to the left of this lane. Neighbor lanes include only adjacent lanes going the same direction.

• repeated bytes adjacent_lanes_right = 7

  A list of neighbors to the right of this lane. Neighbor lanes include only adjacent lanes going the same direction.

• string name = 1

  The name of this map in the format environment_name:map_name

• repeated MapElement elements = 2

  The full set of map elements.

• optional Point max_pt = 3

  The coordinates of the cuboid (in m) containing all elements in this map.

• optional Point min_pt = 4

• optional Point shifted_origin = 5

  The original world coordinates (in m) of the bottom-left of the map (account for a change in the origin for storage efficiency).