osi3::DetectedMovingObject::CandidateMovingObject Struct Reference

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

Collaboration diagram for osi3::DetectedMovingObject::CandidateMovingObject:

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Public Attributes

optional double	probability = 1
	The estimated probability that this candidate is the true value. More...

optional MovingObject::Type	type = 2
	The description of the moving object (e.g. More...

optional MovingObject::VehicleClassification	vehicle_classification = 3
	Specific information about the classification of the vehicle. More...

optional Orientation3d	head_pose = 4
	Pedestrian head pose for behavior prediction. More...

optional Orientation3d	upper_body_pose = 5
	Pedestrian upper body pose for behavior prediction. More...

optional MovingObject::MovingObjectClassification	moving_object_classification = 6
	Specific information about the classification of a moving object. More...

Detailed Description

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

Member Data Documentation

◆ probability

optional double osi3::DetectedMovingObject::CandidateMovingObject::probability = 1

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

◆ type

optional MovingObject::Type osi3::DetectedMovingObject::CandidateMovingObject::type = 2

The description of the moving object (e.g.

car).

◆ vehicle_classification

optional MovingObject::VehicleClassification osi3::DetectedMovingObject::CandidateMovingObject::vehicle_classification = 3

Specific information about the classification of the vehicle.

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

Rules: check_if this.type is_equal_to 2 else do_check is_set

◆ head_pose

optional Orientation3d osi3::DetectedMovingObject::CandidateMovingObject::head_pose = 4

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

Rules: check_if this.type is_equal_to 3 else do_check is_set

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.

◆ upper_body_pose

optional Orientation3d osi3::DetectedMovingObject::CandidateMovingObject::upper_body_pose = 5

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

Rules: check_if this.type is_equal_to 3 else do_check is_set

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.

◆ moving_object_classification

optional MovingObject::MovingObjectClassification osi3::DetectedMovingObject::CandidateMovingObject::moving_object_classification = 6

Specific information about the classification of a moving object.

osi_detectedobject.proto