osi3::DetectedMovingObject::CandidateMovingObject Struct Reference
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... | |
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 ofDetectedItemHeader::existence_probability
.
- Rules
- is_greater_than_or_equal_to: 0is_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
isMovingObject::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
isMovingObject::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
isMovingObject::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