Struct CameraDetection¶
Defined in File osi_featuredata.proto
Struct Documentation¶

struct osi3::CameraDetection¶
Camera detection from the sensor.
Public Types

enum Color¶
Definition of shape dominant color.
Values:

enumerator COLOR_UNKNOWN¶
Color of the shape is unknown (must not be used in ground truth).

enumerator COLOR_OTHER¶
Shape with another (unspecified but known) color.

enumerator COLOR_BLACK¶
Shape with black color.

enumerator COLOR_GREY¶
Shape with grey color.

enumerator COLOR_WHITE¶
Shape with white color.

enumerator COLOR_YELLOW¶
Shape with yellow color.

enumerator COLOR_ORANGE¶
Shape with orange color.

enumerator COLOR_RED¶
Shape with red color.

enumerator COLOR_VIOLET¶
Shape with violet color.

enumerator COLOR_BLUE¶
Shape with blue color.

enumerator COLOR_GREEN¶
Shape with green color.

enumerator COLOR_REFLECTIVE¶
Shape with reflective color.

enumerator COLOR_UNKNOWN¶

enum ImageShapeType¶
Definition of different image shape types.
Values:

enumerator IMAGE_SHAPE_TYPE_UNKNOWN¶
Shape type is unknown (must not be used in ground truth).

enumerator IMAGE_SHAPE_TYPE_OTHER¶
Other (unspecified but known) shape type.

enumerator IMAGE_SHAPE_TYPE_POINT¶
Image shape is defined by a single point.
Allowed number of referenced points: 1

enumerator 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+thirdsecond corner.

enumerator 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

enumerator 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).

enumerator 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.

enumerator 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.

enumerator IMAGE_SHAPE_TYPE_UNKNOWN¶
Public Members
 optional double existence_probability = 1
Existence probability of the detection not based on history. Value does not depend on any past experience with similar detections.
is_greater_than_or_equal_to: 0 is_less_than_or_equal_to: 1
Note
Used as confidence measure where a low value means less confidence and a high value indicates strong confidence.
 optional Identifier object_id = 2
ID of the detected object this detection is associated to.
refers_to: DetectedObject
Note
ID = MAX(uint64) indicates no reference to an object.
 optional Timestamp time_difference = 3
Difference to the base timestamp
SensorDetectionHeader::measurement_time
.The timestamp of this detection :=
SensorDetectionHeader::measurement_time
+time_difference
.
 optional ImageShapeType image_shape_type = 4
Definition of the image shape type of this detection.
 optional bool shape_classification_background = 5
The defined shape is background. The probability for this classification is at least
shape_classification_probability
.
 optional bool shape_classification_foreground = 6
The defined shape is foregroud. The probability for this classification is at least
shape_classification_probability
.
 optional bool shape_classification_flat = 7
The defined shape is flat. The probability for this classification is at least
shape_classification_probability
.
 optional bool shape_classification_upright = 8
The defined shape is upright. The probability for this classification is at least
shape_classification_probability
.
 optional bool shape_classification_ground = 9
The defined shape is ground. The probability for this classification is at least
shape_classification_probability
.
 optional bool shape_classification_sky = 10
The defined shape is sky. The probability for this classification is at least
shape_classification_probability
.
 optional bool shape_classification_vegetation = 11
The defined shape is vegetation. The probability for this classification is at least
shape_classification_probability
.
 optional bool shape_classification_road = 12
The defined shape is a road. The probability for this classification is at least
shape_classification_probability
.
 optional bool shape_classification_non_driving_lane = 13
The defined shape is a nondriving lane (e.g. sidewalk). The probability for this classification is at least
shape_classification_probability
.
 optional bool shape_classification_non_road = 14
The defined shape is nonroad (e.g. traffic island). The probability for this classification is at least
shape_classification_probability
.
 optional bool shape_classification_stationary_object = 15
The defined shape is a stationary object. The probability for this classification is at least
shape_classification_probability
.
 optional bool shape_classification_moving_object = 16
The defined shape is a possible moving object. The probability for this classification is at least
shape_classification_probability
.
 optional bool shape_classification_landmark = 17
The defined shape is a landmark. The probability for this classification is at least
shape_classification_probability
.
 optional bool shape_classification_traffic_sign = 18
The defined shape is a traffic sign. The probability for this classification is at least
shape_classification_probability
.
 optional bool shape_classification_traffic_light = 19
The defined shape is a traffic light. The probability for this classification is at least
shape_classification_probability
.
 optional bool shape_classification_road_marking = 20
The defined shape is a road marking sign. The probability for this classification is at least
shape_classification_probability
.
 optional bool shape_classification_vehicle = 21
The defined shape is a vehicle. The probability for this classification is at least
shape_classification_probability
.
 optional bool shape_classification_pedestrian = 22
The defined shape is a pedestrian. The probability for this classification is at least
shape_classification_probability
.
 optional bool shape_classification_animal = 23
The defined shape is an animal. The probability for this classification is at least
shape_classification_probability
.
 optional bool 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
.
 optional bool 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
.
 optional bool 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
.
 optional double shape_classification_probability = 27
This probability defines the mininimum probability for each selected shape classification.
is_greater_than_or_equal_to: 0 is_less_than_or_equal_to: 1
 optional Color color = 28
The dominant color of the shape.
 optional double color_probability = 29
The probability of the shape’s color.
is_greater_than_or_equal_to: 0 is_less_than_or_equal_to: 1
 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.
Note
ID = MAX(uint64) indicates no reference to an object.
 optional uint32 first_point_index = 31
Index of the first point in the camera detection.
 optional uint32 number_of_points = 32
Number of points which defines the shape.
image_shape_type
may restrict the number of possible values.is_greater_than_or_equal_to: 0

enum Color¶