osi3::DetectedMovingObject Struct Reference

Moving object in the environment as detected and perceived by the sensor. More...

Collaboration diagram for osi3::DetectedMovingObject:

Classes

struct  CandidateMovingObject
 A candidate for a detected moving object as estimated by the sensor. 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...
 

Detailed Description

Moving object in the environment as detected and perceived by the sensor.

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.

Enumerator
REFERENCE_POINT_UNKNOWN 

Reference point is unknown, i.e.

sensor does not report a reference point for the position coordinate. Value must not be used in ground truth data. Usually this means that the reference point for the given position coordinates is a largely arbitrary point within the bounding volume unknown to the sensor. If this value is set, the center of the bounding box should be used as reference point by convention, unless the specific use case requires otherwise.

REFERENCE_POINT_OTHER 

Other (unspecified but known) reference point.

REFERENCE_POINT_CENTER 

Center of the bounding box.

REFERENCE_POINT_MIDDLE_LEFT 

Middle-Left of the bounding box.

REFERENCE_POINT_MIDDLE_RIGHT 

Middle-Right of the bounding box.

REFERENCE_POINT_REAR_MIDDLE 

Rear-Middle of the bounding box.

REFERENCE_POINT_REAR_LEFT 

Rear-Left of the bounding box.

REFERENCE_POINT_REAR_RIGHT 

Rear-Right of the bounding box.

REFERENCE_POINT_FRONT_MIDDLE 

Front-Middle of the bounding box.

REFERENCE_POINT_FRONT_LEFT 

Front-Left of the bounding box.

REFERENCE_POINT_FRONT_RIGHT 

Front-Right of the bounding box.

◆ MovementState

Information about a possible movement of the object during tracking.

Enumerator
MOVEMENT_STATE_UNKNOWN 

Movement state is unknown.

MOVEMENT_STATE_OTHER 

Other (unspecified but known).

MOVEMENT_STATE_STATIONARY 

Until now no object movement was detected in tracking history.

MOVEMENT_STATE_MOVING 

Object moves currently.

MOVEMENT_STATE_STOPPED 

Object movement was detected in tracking history, but object is currently not moving.

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: 0
is_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: 0
is_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