Struct CameraDetection¶

Defined in File osi_featuredata.proto

Struct Documentation¶

struct CameraDetection¶

Camera detection from the sensor.

Public Types

enum Color¶

Definition of shape dominant color.

Values:

COLOR_UNKNOWN = 0¶: Color of the shape is unknown (must not be used in ground truth).

COLOR_OTHER = 1¶: Shape with another (unspecified but known) color.

COLOR_BLACK = 2¶: Shape with black color.

COLOR_GREY = 3¶: Shape with grey color.

COLOR_WHITE = 4¶: Shape with white color.

COLOR_YELLOW = 5¶: Shape with yellow color.

COLOR_ORANGE = 6¶: Shape with orange color.

COLOR_RED = 7¶: Shape with red color.

COLOR_VIOLET = 8¶: Shape with violet color.

COLOR_BLUE = 9¶: Shape with blue color.

COLOR_GREEN = 10¶: Shape with green color.

COLOR_REFLECTIVE = 11¶: Shape with reflective color.

enum ImageShapeType¶

Definition of different image shape types.

Values:

IMAGE_SHAPE_TYPE_UNKNOWN = 0¶: Shape type is unknown (must not be used in ground truth).

IMAGE_SHAPE_TYPE_OTHER = 1¶: Other (unspecified but known) shape type.

IMAGE_SHAPE_TYPE_POINT = 2¶

Image shape is defined by a single point.

Allowed number of referenced points: 1

IMAGE_SHAPE_TYPE_BOX = 3¶

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.

IMAGE_SHAPE_TYPE_ELLIPSE = 4¶

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

IMAGE_SHAPE_TYPE_POLYGON = 5¶

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).

IMAGE_SHAPE_TYPE_POLYLINE = 6¶

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.

IMAGE_SHAPE_TYPE_POINT_CLOUD = 7¶

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 osi3::CameraDetection::existence_probability = 1

Existence probability of the detection not based on history. Value does not depend on any past experience with similar detections.

Range: [0.0, 1.0]

Note: Used as confidence measure where a low value means less confidence and a high value indicates strong confidence.

optional Identifier osi3::CameraDetection::object_id = 2

ID of the detected object this detection is associated to.

Note: ID = MAX(uint64) indicates no reference to an object.

optional Timestamp osi3::CameraDetection::time_difference = 3

Difference to the base timestamp SensorDetectionHeader::measurement_time.

The timestamp of this detection := SensorDetectionHeader::measurement_time + time_difference.

optional ImageShapeType osi3::CameraDetection::image_shape_type = 4: Definition of the image shape type of this detection.

optional bool osi3::CameraDetection::shape_classification_background = 5: The defined shape is background. The probability for this classification is at least shape_classification_probability.

optional bool osi3::CameraDetection::shape_classification_foreground = 6: The defined shape is foregroud. The probability for this classification is at least shape_classification_probability.

optional bool osi3::CameraDetection::shape_classification_flat = 7: The defined shape is flat. The probability for this classification is at least shape_classification_probability.

optional bool osi3::CameraDetection::shape_classification_upright = 8: The defined shape is upright. The probability for this classification is at least shape_classification_probability.

optional bool osi3::CameraDetection::shape_classification_ground = 9: The defined shape is ground. The probability for this classification is at least shape_classification_probability.

optional bool osi3::CameraDetection::shape_classification_sky = 10: The defined shape is sky. The probability for this classification is at least shape_classification_probability.

optional bool osi3::CameraDetection::shape_classification_vegetation = 11: The defined shape is vegetation. The probability for this classification is at least shape_classification_probability.

optional bool osi3::CameraDetection::shape_classification_road = 12: The defined shape is a road. The probability for this classification is at least shape_classification_probability.

optional bool osi3::CameraDetection::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 osi3::CameraDetection::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 osi3::CameraDetection::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 osi3::CameraDetection::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 osi3::CameraDetection::shape_classification_landmark = 17: The defined shape is a landmark. The probability for this classification is at least shape_classification_probability.

optional bool osi3::CameraDetection::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 osi3::CameraDetection::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 osi3::CameraDetection::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 osi3::CameraDetection::shape_classification_vehicle = 21: The defined shape is a vehicle. The probability for this classification is at least shape_classification_probability.

optional bool osi3::CameraDetection::shape_classification_pedestrian = 22: The defined shape is a pedestrian. The probability for this classification is at least shape_classification_probability.

optional bool osi3::CameraDetection::shape_classification_animal = 23: The defined shape is an animal. The probability for this classification is at least shape_classification_probability.

optional bool osi3::CameraDetection::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 osi3::CameraDetection::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 osi3::CameraDetection::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 osi3::CameraDetection::shape_classification_probability = 27

This probability defines the mininimum probability for each selected shape classification.

Range: [0.0, 1.0]

optional Color osi3::CameraDetection::color = 28: The dominant color of the shape.

optional double osi3::CameraDetection::color_probability = 29

The probability of the shape’s color.

Range: [0.0, 1.0]

optional Identifier osi3::CameraDetection::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 osi3::CameraDetection::first_point_index = 31: Index of the first point in the camera detection.

optional uint32 osi3::CameraDetection::number_of_points = 32: Number of points which defines the shape. image_shape_type may restrict the number of possible values.