Struct CameraDetection

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.

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+third-second 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.

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 non-driving 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 non-road (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