osi3::CameraDetection Struct Reference

Camera detection from the sensor. More...

Collaboration diagram for osi3::CameraDetection:

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Public Types

enum	Color { COLOR_UNKNOWN = 0, COLOR_OTHER = 1, COLOR_BLACK = 2, COLOR_GREY = 3, COLOR_WHITE = 4, COLOR_YELLOW = 5, COLOR_ORANGE = 6, COLOR_RED = 7, COLOR_VIOLET = 8, COLOR_BLUE = 9, COLOR_GREEN = 10, COLOR_REFLECTIVE = 11 }
	Definition of shape dominant color. More...

enum	ImageShapeType { IMAGE_SHAPE_TYPE_UNKNOWN = 0, IMAGE_SHAPE_TYPE_OTHER = 1, IMAGE_SHAPE_TYPE_POINT = 2, IMAGE_SHAPE_TYPE_BOX = 3, IMAGE_SHAPE_TYPE_ELLIPSE = 4, IMAGE_SHAPE_TYPE_POLYGON = 5, IMAGE_SHAPE_TYPE_POLYLINE = 6, IMAGE_SHAPE_TYPE_POINT_CLOUD = 7 }
	Definition of different image shape types. More...

Public Attributes

optional double	existence_probability = 1
	Existence probability of the detection not based on history. More...

optional Identifier	object_id = 2
	ID of the detected object this detection is associated to. More...

optional Timestamp	time_difference = 3
	Difference to the base timestamp `SensorDetectionHeader::measurement_time`. More...

optional ImageShapeType	image_shape_type = 4
	Definition of the image shape type of this detection. More...

optional bool	shape_classification_background = 5
	The defined shape is background. More...

optional bool	shape_classification_foreground = 6
	The defined shape is foregroud. More...

optional bool	shape_classification_flat = 7
	The defined shape is flat. More...

optional bool	shape_classification_upright = 8
	The defined shape is upright. More...

optional bool	shape_classification_ground = 9
	The defined shape is ground. More...

optional bool	shape_classification_sky = 10
	The defined shape is sky. More...

optional bool	shape_classification_vegetation = 11
	The defined shape is vegetation. More...

optional bool	shape_classification_road = 12
	The defined shape is a road. More...

optional bool	shape_classification_non_driving_lane = 13
	The defined shape is a non-driving lane (e.g. More...

optional bool	shape_classification_non_road = 14
	The defined shape is non-road (e.g. More...

optional bool	shape_classification_stationary_object = 15
	The defined shape is a stationary object. More...

optional bool	shape_classification_moving_object = 16
	The defined shape is a possible moving object. More...

optional bool	shape_classification_landmark = 17
	The defined shape is a landmark. More...

optional bool	shape_classification_traffic_sign = 18
	The defined shape is a traffic sign. More...

optional bool	shape_classification_traffic_light = 19
	The defined shape is a traffic light. More...

optional bool	shape_classification_road_marking = 20
	The defined shape is a road marking sign. More...

optional bool	shape_classification_vehicle = 21
	The defined shape is a vehicle. More...

optional bool	shape_classification_pedestrian = 22
	The defined shape is a pedestrian. More...

optional bool	shape_classification_animal = 23
	The defined shape is an animal. More...

optional bool	shape_classification_pedestrian_front = 24
	The defined shape is a pedestrian seen by the sensor from the front. More...

optional bool	shape_classification_pedestrian_side = 25
	The defined shape is a pedestrian seen by the sensor from the side. More...

optional bool	shape_classification_pedestrian_rear = 26
	The defined shape is a pedestrian seen by the sensor from the rear. More...

optional double	shape_classification_probability = 27
	This probability defines the mininimum probability for each selected shape classification. More...

optional Color	color = 28
	The dominant color of the shape. More...

optional double	color_probability = 29
	The probability of the shape's color. More...

optional Identifier	ambiguity_id = 30
	If one shape has different shape classifications and shape classification probability or color and color probability, all detections in this cycle have the same ambiguity ID. More...

optional uint32	first_point_index = 31
	Index of the first point in the camera detection. More...

optional uint32	number_of_points = 32
	Number of points which defines the shape. More...

optional ColorDescription	color_description = 33
	The dominant color of the shape. More...

Detailed Description

Camera detection from the sensor.

Member Enumeration Documentation

◆ Color

enum osi3::CameraDetection::Color

Definition of shape dominant color.

Attention: DEPRECATED: This color enum will be removed in version 4.0.0. Use ColorDescription instead.

Enumerator
COLOR_UNKNOWN	Color of the shape is unknown (must not be used in ground truth).
COLOR_OTHER	Shape with another (unspecified but known) color.
COLOR_BLACK	Shape with black color.
COLOR_GREY	Shape with grey color.
COLOR_WHITE	Shape with white color.
COLOR_YELLOW	Shape with yellow color.
COLOR_ORANGE	Shape with orange color.
COLOR_RED	Shape with red color.
COLOR_VIOLET	Shape with violet color.
COLOR_BLUE	Shape with blue color.
COLOR_GREEN	Shape with green color.
COLOR_REFLECTIVE	Shape with reflective color.

◆ ImageShapeType

enum osi3::CameraDetection::ImageShapeType

Definition of different image shape types.

Enumerator
IMAGE_SHAPE_TYPE_UNKNOWN	Shape type is unknown (must not be used in ground truth).
IMAGE_SHAPE_TYPE_OTHER	Other (unspecified but known) shape type.
IMAGE_SHAPE_TYPE_POINT	Image shape is defined by a single point. Allowed number of referenced points: 1
IMAGE_SHAPE_TYPE_BOX	Image shape is defined by a box. Allowed number of referenced points: 2 or 3 Allowed number of referenced points = 2: first and third corner of the box. Box is alligned horizontal resp. vertical. Allowed number of referenced points = 3: first, second and third corner of the box. fourth corner is calculated by first+third-second corner.
IMAGE_SHAPE_TYPE_ELLIPSE	Image shape is defined by an ellipse. Allowed number of referenced points: 2 or 3 Allowed number of referenced points = 2: center point of circle, point on circle Allowed number of referenced points = 3: center point of ellipse, point on ellipse at main axis of ellipse, point on ellipse at minor axis of ellipse
IMAGE_SHAPE_TYPE_POLYGON	Image shape is defined by a polygon. Allowed number of referenced points: 3 .. n Polygon is defined by the first, second, third and so on points. The polygon shape is closed (last and first point are different).
IMAGE_SHAPE_TYPE_POLYLINE	Image shape is defined by a polyline. Allowed number of referenced points: 2 .. n Polyline is defined by the first, second and so on points. The polyline shape is open.
IMAGE_SHAPE_TYPE_POINT_CLOUD	Image shape is defined by a point cloud. Allowed number of referenced points: 2 .. n Point cloud is defined by a number of points. The points are not connected in the point cloud.

Member Data Documentation

◆ existence_probability

optional double osi3::CameraDetection::existence_probability = 1

Existence probability of the detection not based on history.

Value does not depend on any past experience with similar detections.

Note: Used as confidence measure where a low value means less confidence and a high value indicates strong confidence.

Rules: is_greater_than_or_equal_to: 0
is_less_than_or_equal_to: 1

◆ object_id

optional Identifier osi3::CameraDetection::object_id = 2

ID of the detected object this detection is associated to.

Note: ID = MAX(uint64) indicates no reference to an object.

Rules: refers_to: DetectedObject

◆ time_difference

optional Timestamp osi3::CameraDetection::time_difference = 3

Difference to the base timestamp SensorDetectionHeader::measurement_time.

The timestamp of this detection := SensorDetectionHeader::measurement_time + time_difference.

◆ image_shape_type

optional ImageShapeType osi3::CameraDetection::image_shape_type = 4

Definition of the image shape type of this detection.

◆ shape_classification_background

optional bool osi3::CameraDetection::shape_classification_background = 5

The defined shape is background.

The probability for this classification is at least shape_classification_probability.

◆ shape_classification_foreground

optional bool osi3::CameraDetection::shape_classification_foreground = 6

The defined shape is foregroud.

The probability for this classification is at least shape_classification_probability.

◆ shape_classification_flat

optional bool osi3::CameraDetection::shape_classification_flat = 7

The defined shape is flat.

The probability for this classification is at least shape_classification_probability.

◆ shape_classification_upright

optional bool osi3::CameraDetection::shape_classification_upright = 8

The defined shape is upright.

The probability for this classification is at least shape_classification_probability.

◆ shape_classification_ground

optional bool osi3::CameraDetection::shape_classification_ground = 9

The defined shape is ground.

The probability for this classification is at least shape_classification_probability.

◆ shape_classification_sky

optional bool osi3::CameraDetection::shape_classification_sky = 10

The defined shape is sky.

The probability for this classification is at least shape_classification_probability.

◆ shape_classification_vegetation

optional bool osi3::CameraDetection::shape_classification_vegetation = 11

The defined shape is vegetation.

The probability for this classification is at least shape_classification_probability.

◆ shape_classification_road

optional bool osi3::CameraDetection::shape_classification_road = 12

The defined shape is a road.

The probability for this classification is at least shape_classification_probability.

◆ shape_classification_non_driving_lane

optional bool osi3::CameraDetection::shape_classification_non_driving_lane = 13

The defined shape is a non-driving lane (e.g.

sidewalk). The probability for this classification is at least shape_classification_probability.

◆ shape_classification_non_road

optional bool osi3::CameraDetection::shape_classification_non_road = 14

The defined shape is non-road (e.g.

traffic island). The probability for this classification is at least shape_classification_probability.

◆ shape_classification_stationary_object

optional bool osi3::CameraDetection::shape_classification_stationary_object = 15

The defined shape is a stationary object.

The probability for this classification is at least shape_classification_probability.

◆ shape_classification_moving_object

optional bool osi3::CameraDetection::shape_classification_moving_object = 16

The defined shape is a possible moving object.

The probability for this classification is at least shape_classification_probability.

◆ shape_classification_landmark

optional bool osi3::CameraDetection::shape_classification_landmark = 17

The defined shape is a landmark.

The probability for this classification is at least shape_classification_probability.

◆ shape_classification_traffic_sign

optional bool osi3::CameraDetection::shape_classification_traffic_sign = 18

The defined shape is a traffic sign.

The probability for this classification is at least shape_classification_probability.

◆ shape_classification_traffic_light

optional bool osi3::CameraDetection::shape_classification_traffic_light = 19

The defined shape is a traffic light.

The probability for this classification is at least shape_classification_probability.

◆ shape_classification_road_marking

optional bool osi3::CameraDetection::shape_classification_road_marking = 20

The defined shape is a road marking sign.

The probability for this classification is at least shape_classification_probability.

◆ shape_classification_vehicle

optional bool osi3::CameraDetection::shape_classification_vehicle = 21

The defined shape is a vehicle.

The probability for this classification is at least shape_classification_probability.

◆ shape_classification_pedestrian

optional bool osi3::CameraDetection::shape_classification_pedestrian = 22

The defined shape is a pedestrian.

The probability for this classification is at least shape_classification_probability.

◆ shape_classification_animal

optional bool osi3::CameraDetection::shape_classification_animal = 23

The defined shape is an animal.

The probability for this classification is at least shape_classification_probability.

◆ shape_classification_pedestrian_front

optional bool osi3::CameraDetection::shape_classification_pedestrian_front = 24

The defined shape is a pedestrian seen by the sensor from the front.

The probability for this classification is at least shape_classification_probability.

◆ shape_classification_pedestrian_side

optional bool osi3::CameraDetection::shape_classification_pedestrian_side = 25

The defined shape is a pedestrian seen by the sensor from the side.

The probability for this classification is at least shape_classification_probability.

◆ shape_classification_pedestrian_rear

optional bool osi3::CameraDetection::shape_classification_pedestrian_rear = 26

The defined shape is a pedestrian seen by the sensor from the rear.

The probability for this classification is at least shape_classification_probability.

◆ shape_classification_probability

optional double osi3::CameraDetection::shape_classification_probability = 27

This probability defines the mininimum probability for each selected shape classification.

Rules: is_greater_than_or_equal_to: 0
is_less_than_or_equal_to: 1

◆ color

optional Color osi3::CameraDetection::color = 28

The dominant color of the shape.

Attention: DEPRECATED: This color enum will be removed in version 4.0.0. Use the field color_description (ColorDescription) instead.

◆ color_probability

optional double osi3::CameraDetection::color_probability = 29

The probability of the shape's color.

Rules: is_greater_than_or_equal_to: 0
is_less_than_or_equal_to: 1

◆ ambiguity_id

optional Identifier osi3::CameraDetection::ambiguity_id = 30

If one shape has different shape classifications and shape classification probability or color and color probability, all detections in this cycle have the same ambiguity ID.

Note: ID = MAX(uint64) indicates no reference to an object.

◆ first_point_index

optional uint32 osi3::CameraDetection::first_point_index = 31

Index of the first point in the camera detection.

◆ number_of_points

optional uint32 osi3::CameraDetection::number_of_points = 32

Number of points which defines the shape.

image_shape_type may restrict the number of possible values.

Rules: is_greater_than_or_equal_to: 0

◆ color_description

optional ColorDescription osi3::CameraDetection::color_description = 33

The dominant color of the shape.

osi_featuredata.proto