Struct DetectedMovingObject::CandidateMovingObject

Nested Relationships

This struct is a nested type of Struct DetectedMovingObject.

Struct Documentation

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: