osi3::DetectedMovingObject::CandidateMovingObject Struct Reference

The estimated probability that this candidate is the true value.

Note

The sum of all probability must be one. This probability is given under the condition of DetectedItemHeader::existence_probability.

Rules

is_greater_than_or_equal_to: 0

is_less_than_or_equal_to: 1

The description of the moving object (e.g.

car).

Specific information about the classification of the vehicle.

Note

This field is mandatory if the CandidateMovingObject::type is MovingObject::TYPE_VEHICLE .

Pedestrian head pose for behavior prediction.

Describes the head orientation w.r.t. the host vehicle orientation. The x-axis of the right-handed head frame is pointing along the pedestrian's straight ahead viewing direction (anterior), the y-axis lateral to the left, and the z-axis is pointing upwards (superior) [1].

View_normal_base_coord_system = Inverse_Rotation(head_pose)*Unit_vector_x

Note

This field is mandatory if the CandidateMovingObject.type is MovingObject::TYPE_PEDESTRIAN

Reference:

[1] Patton, K. T. & Thibodeau, G. A. (2015). Anatomy & Physiology. 9th Edition. Elsevier. Missouri, U.S.A. ISBN 978-0-323-34139-4. p. 1229.

Pedestrian upper body pose for behavior prediction.

Describes the upper body orientation w.r.t. the host vehicle orientation. The x-axis of the right-handed upper body frame is pointing along the pedestrian's upper body ventral (anterior) direction (i.e. usually pedestrian's intended moving direction), the y-axis lateral to the left, and the z-axis is pointing upwards (superior, to the pedestrian's head) [1].

View_normal_base_coord_system = Inverse_Rotation(upper_body_pose)*Unit_vector_x

Note

This field is mandatory if the CandidateMovingObject::type is MovingObject::TYPE_PEDESTRIAN

Reference:

[1] Patton, K. T. & Thibodeau, G. A. (2015). Anatomy & Physiology. 9th Edition. Elsevier. Missouri, U.S.A. ISBN 978-0-323-34139-4. p. 1229.

Specific information about the classification of a moving object.