osi3::DetectedMovingObject Struct Reference
Classes
struct | CandidateMovingObject |
A candidate for a detected moving object as estimated by the sensor. More... | |
Public Types
enum | ReferencePoint { REFERENCE_POINT_UNKNOWN = 0, REFERENCE_POINT_OTHER = 1, REFERENCE_POINT_CENTER = 2, REFERENCE_POINT_MIDDLE_LEFT = 3, REFERENCE_POINT_MIDDLE_RIGHT = 4, REFERENCE_POINT_REAR_MIDDLE = 5, REFERENCE_POINT_REAR_LEFT = 6, REFERENCE_POINT_REAR_RIGHT = 7, REFERENCE_POINT_FRONT_MIDDLE = 8, REFERENCE_POINT_FRONT_LEFT = 9, REFERENCE_POINT_FRONT_RIGHT = 10 } |
Definition of available reference points. More... | |
enum | MovementState { MOVEMENT_STATE_UNKNOWN = 0, MOVEMENT_STATE_OTHER = 1, MOVEMENT_STATE_STATIONARY = 2, MOVEMENT_STATE_MOVING = 3, MOVEMENT_STATE_STOPPED = 4 } |
Information about a possible movement of the object during tracking. More... | |
Public Attributes
optional DetectedItemHeader | header = 1 |
Common information of one detected item. More... | |
optional BaseMoving | base = 2 |
The base parameters of the moving object. More... | |
optional BaseMoving | base_rmse = 3 |
The root mean squared error of the base parameters of the detected moving object (e.g. More... | |
optional ReferencePoint | reference_point = 4 |
Reference point location specification of the sensor measurement (required to decouple sensor measurement, position and bounding box estimation) as used by the sensor (model). More... | |
optional MovementState | movement_state = 5 |
Actual movement state w.r.t. More... | |
optional double | percentage_side_lane_left = 6 |
Percentage side lane left. More... | |
optional double | percentage_side_lane_right = 7 |
Percentage side lane right. More... | |
repeated CandidateMovingObject | candidate = 8 |
A list of candidates for this moving object as estimated by the sensor (e.g. More... | |
optional ColorDescription | color_description = 9 |
The dominating color of the material of the moving object. More... | |
optional RadarSpecificObjectData | radar_specifics = 100 |
Additional data that is specific to radar sensors. More... | |
optional LidarSpecificObjectData | lidar_specifics = 101 |
Additional data that is specific to lidar sensors. More... | |
optional CameraSpecificObjectData | camera_specifics = 102 |
Additional data that is specific to camera sensors. More... | |
optional UltrasonicSpecificObjectData | ultrasonic_specifics = 103 |
Additional data that is specific to ultrasonic sensors. More... | |
Member Enumeration Documentation
◆ ReferencePoint
Definition of available reference points.
Left/middle/right and front/middle/rear indicate the position in y- and x-direction respectively. The z position is always considered as middle.
◆ MovementState
Information about a possible movement of the object during tracking.
Member Data Documentation
◆ header
optional DetectedItemHeader osi3::DetectedMovingObject::header = 1 |
Common information of one detected item.
◆ base
optional BaseMoving osi3::DetectedMovingObject::base = 2 |
The base parameters of the moving object.
- Note
- The bounding box does NOT includes mirrors for vehicles.
-
The parent frame of
base
is the sensor's vehicle frame. - The height includes the ground_clearance. It always goes from the top to the ground.
◆ base_rmse
optional BaseMoving osi3::DetectedMovingObject::base_rmse = 3 |
The root mean squared error of the base parameters of the detected moving object (e.g.
car). MovingObject::base
has to be identical for all candidate
moving objects.
- Note
- The parent frame of
base
is the sensor's vehicle frame.
◆ reference_point
optional ReferencePoint osi3::DetectedMovingObject::reference_point = 4 |
Reference point location specification of the sensor measurement (required to decouple sensor measurement, position and bounding box estimation) as used by the sensor (model).
- Note
- Note that the value of this field has no impact on the value of object::position, which always references the center of the object / bounding box.
◆ movement_state
optional MovementState osi3::DetectedMovingObject::movement_state = 5 |
Actual movement state w.r.t.
the moving object history.
◆ percentage_side_lane_left
optional double osi3::DetectedMovingObject::percentage_side_lane_left = 6 |
Percentage side lane left.
Percentage value of the object width in the corresponding lane.
- Note
- DEPRECATED: Use assigned_lane_percentage in MovingObjectClassification instead.
- Rules
- is_greater_than_or_equal_to: 0is_less_than_or_equal_to: 100
◆ percentage_side_lane_right
optional double osi3::DetectedMovingObject::percentage_side_lane_right = 7 |
Percentage side lane right.
Percentage value of the object width in the corresponding lane.
- Note
- DEPRECATED: Use assigned_lane_percentage in MovingObjectClassification instead.
- Rules
- is_greater_than_or_equal_to: 0is_less_than_or_equal_to: 100
◆ candidate
repeated CandidateMovingObject osi3::DetectedMovingObject::candidate = 8 |
A list of candidates for this moving object as estimated by the sensor (e.g.
pedestrian, car).
◆ color_description
optional ColorDescription osi3::DetectedMovingObject::color_description = 9 |
The dominating color of the material of the moving object.
◆ radar_specifics
optional RadarSpecificObjectData osi3::DetectedMovingObject::radar_specifics = 100 |
Additional data that is specific to radar sensors.
- Note
- Field needs not to be set if simulated sensor is not a radar sensor.
◆ lidar_specifics
optional LidarSpecificObjectData osi3::DetectedMovingObject::lidar_specifics = 101 |
Additional data that is specific to lidar sensors.
- Note
- Field needs not to be set if simulated sensor is not a lidar sensor.
◆ camera_specifics
optional CameraSpecificObjectData osi3::DetectedMovingObject::camera_specifics = 102 |
Additional data that is specific to camera sensors.
- Note
- Field needs not to be set if simulated sensor is not a camera sensor.
◆ ultrasonic_specifics
optional UltrasonicSpecificObjectData osi3::DetectedMovingObject::ultrasonic_specifics = 103 |
Additional data that is specific to ultrasonic sensors.
- Note
- Field needs not to be set if simulated sensor is not an ultrasonic sensor.
- osi_detectedobject.proto