osi3::DetectedMovingObject::CandidateMovingObject Struct Reference

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

Collaboration diagram for osi3::DetectedMovingObject::CandidateMovingObject:

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