Struct DetectedMovingObject

Nested Relationships

Struct Documentation

struct DetectedMovingObject

Moving object in the environment as detected and perceived by the sensor.

Public Types

enum ReferencePoint

Definition of available reference points. Left/middle/right and front/middle/rear indicate the position in y- and x-direction respectively. The z position is always considered as middle.

Values:

REFERENCE_POINT_UNKNOWN = 0

Reference point is unknown, i.e. sensor does not report a reference point for the position coordinate. Value must not be used in ground truth data. Usually this means that the reference point for the given position coordinates is a largely arbitrary point within the bounding volume unknown to the sensor. If this value is set, the center of the bounding box should be used as reference point by convention, unless the specific use case requires otherwise.

REFERENCE_POINT_OTHER = 1

Other (unspecified but known) reference point.

REFERENCE_POINT_CENTER = 2

Center of the bounding box.

REFERENCE_POINT_MIDDLE_LEFT = 3

Middle-Left of the bounding box.

REFERENCE_POINT_MIDDLE_RIGHT = 4

Middle-Right of the bounding box.

REFERENCE_POINT_REAR_MIDDLE = 5

Rear-Middle of the bounding box.

REFERENCE_POINT_REAR_LEFT = 6

Rear-Left of the bounding box.

REFERENCE_POINT_REAR_RIGHT = 7

Rear-Right of the bounding box.

REFERENCE_POINT_FRONT_MIDDLE = 8

Front-Middle of the bounding box.

REFERENCE_POINT_FRONT_LEFT = 9

Front-Left of the bounding box.

REFERENCE_POINT_FRONT_RIGHT = 10

Front-Right of the bounding box.

enum MovementState

Information about a possible movement of the object during tracking.

Values:

MOVEMENT_STATE_UNKNOWN = 0

Movement state is unknown.

MOVEMENT_STATE_OTHER = 1

Other (unspecified but known).

MOVEMENT_STATE_STATIONARY = 2

Until now no object movement was detected in tracking history.

MOVEMENT_STATE_MOVING = 3

Object moves currently.

MOVEMENT_STATE_STOPPED = 4

Object movement was detected in tracking history, but object is currently not moving.

Public Members

optional DetectedItemHeader osi3::DetectedMovingObject::header = 1

Common information of one detected item.

optional BaseMoving osi3::DetectedMovingObject::base = 2

The base parameters of the moving object.

Note

The bounding box does NOT includes mirrors for vehicles.

Note

The parent frame of base is the sensor’s vehicle frame.

optional BaseMoving osi3::DetectedMovingObject::base_rmse = 3

The root mean squared error of the base parameters of the detected moving object (e.g. car). MovingObject::base has to be identical for all candidate moving objects.

Note

The parent frame of base is the sensor’s vehicle frame.

optional ReferencePoint osi3::DetectedMovingObject::reference_point = 4

Reference point location specification of the sensor measurement (required to decouple sensor measurement, position and bounding box estimation) as used by the sensor (model).

Note

Note that the value of this field has no impact on the value of object::position, which always references the center of the object / bounding box.

optional MovementState osi3::DetectedMovingObject::movement_state = 5

Actual movement state w.r.t. the moving object history.

optional double osi3::DetectedMovingObject::percentage_side_lane_left = 6

Percentage side lane left.

Percentage value of the object width in the corresponding lane.

optional double osi3::DetectedMovingObject::percentage_side_lane_right = 7

Percentage side lane right.

Percentage value of the object width in the corresponding lane.

repeated CandidateMovingObject osi3::DetectedMovingObject::candidate = 8

A list of candidates for this moving object as estimated by the sensor (e.g. pedestrian, car).

Note

OSI uses singular instead of plural for repeated field names.

optional RadarSpecificObjectData osi3::DetectedMovingObject::radar_specifics = 100

Additional data that is specific to radar sensors.

Note

Field need not be set if simulated sensor is not a radar sensor.

optional LidarSpecificObjectData osi3::DetectedMovingObject::lidar_specifics = 101

Additional data that is specific to lidar sensors.

Note

Field need not be set if simulated sensor is not a lidar sensor.

optional CameraSpecificObjectData osi3::DetectedMovingObject::camera_specifics = 102

Additional data that is specific to camera sensors.

Note

Field need not be set if simulated sensor is not a camera sensor.

optional UltrasonicSpecificObjectData osi3::DetectedMovingObject::ultrasonic_specifics = 103

Additional data that is specific to ultrasonic sensors.

Note

Field need not be set if simulated sensor is not an ultrasonic sensor.

struct CandidateMovingObject

A candidate for a detected moving object as estimated by the sensor.

Public Members

optional double osi3::DetectedMovingObject::CandidateMovingObject::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 MovingObject::Type osi3::DetectedMovingObject::CandidateMovingObject::type = 2

The description of the moving object (e.g. car).

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 is MovingObject::TYPE_VEHICLE .

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 and the z-axis is pointing upwards (cranial direction [1] i.e. to pedestrian’s skull cap).

View_normal_base_coord_system = Inverse_Rotation(head_pose)*Unit_vector_x

Note

This field is mandatory if the CandidateMovingObject.type is MovingObject::TYPE_PEDESTRIAN

References:

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 direction [2] (i.e. usually pedestrian’s intended moving direction) and the z-axis is pointing upwards (to pedestrian’s head).

View_normal_base_coord_system = Inverse_Rotation(upper_body_pose)*Unit_vector_x

Note

This field is mandatory if the CandidateMovingObject::type is MovingObject::TYPE_PEDESTRIAN

References: