Struct DetectedLaneBoundary

• Defined in File osi_detectedlane.proto

Nested Relationships

Nested Types

• Struct DetectedLaneBoundary::CandidateLaneBoundary

Struct Documentation

struct DetectedLaneBoundary

A lane boundary segment as detected by the sensor.

Public Members

optional DetectedItemHeader osi3::DetectedLaneBoundary::header = 1

Common information of one detected item.

repeated CandidateLaneBoundary osi3::DetectedLaneBoundary::candidate = 2

A list of candidates for this lane boundary as estimated by the sensor.

Note

OSI uses singular instead of plural for repeated field names.

repeated LaneBoundary::BoundaryPoint osi3::DetectedLaneBoundary::boundary_line = 3

The list of individual points defining the location of the lane boundary (as a list of segments).

Since a BoundaryPoint is part of a sequence, only the position attribute has to be set for each instance. All other values will be reused from the previous BoundaryPoint in the sequence or set to default values if there is none or it was never set. For dashed lines, one LaneBoundary::BoundaryPoint has to be at the start and another at the end of each dashed line segment. For Botts’ dots lines, one LaneBoundary::BoundaryPoint position has to define each Botts’ dot.

Attention

For LaneBoundary::BoundaryPoint the same rules regarding maximum distance and approximation error apply as for Lane::Classification::centerline.

repeated LaneBoundary::BoundaryPoint osi3::DetectedLaneBoundary::boundary_line_rmse = 4

The root mean squared error of the LaneBoundary::BoundaryPoint. Each candidate has the same boundary_line points and exact one boundary_line_rmse rmse confidence value is specified which is suitable for all candidates.

repeated double osi3::DetectedLaneBoundary::boundary_line_confidences = 5

Confidence of the segments of the LaneBoundary::BoundaryPoint. Each candidate has the same boundary_line points and exact one boundary_line_confidences confidence value is specified which is suitable for all candidates.

Range: [0,1]

struct CandidateLaneBoundary

A candidate for a detected lane boundary as estimated by the sensor.

Public Members

optional double osi3::DetectedLaneBoundary::CandidateLaneBoundary::probability = 1

The estimated probability that this candidate is the true value.

Range: [0,1]

Note

The sum of all probability must be one. This probability is given under the condition of DetectedItemHeader::existence_probability.

optional LaneBoundary::Classification osi3::DetectedLaneBoundary::CandidateLaneBoundary::classification = 2

The classification of one lane boundary that defines this candidate.

Note

IDs, which are referenced in this message, usually reference to DetectedXXX::tracking_id IDs.