Struct FeatureData

Struct Documentation

struct FeatureData

Interface for sensor data containing information without a history in contrast to interpreted data after object hypothesis and tracking.

All information regarding the environment is given with respect to the sensor coordinate system specified in SensorDetectionHeader::mounting_position. When simulating multiple sensors, each sensor has an individual copy of FeatureData in its own reference frame. This allows an independent treatment of the sensors.

Public Members

optional InterfaceVersion osi3::FeatureData::version = 1

The interface version used by the sender (i.e. the simulation environment).

repeated RadarDetectionData osi3::FeatureData::radar_sensor = 2

Radar detections for multiple radar sensors (sensor fusion).

Note

OSI uses singular instead of plural for repeated field names.

repeated LidarDetectionData osi3::FeatureData::lidar_sensor = 3

Lidar detections for multiple lidar sensors (sensor fusion).

Note

OSI uses singular instead of plural for repeated field names.

repeated UltrasonicDetectionData osi3::FeatureData::ultrasonic_sensor = 4

Ultrasonic detections for multiple ultrasonic sensors (sensor fusion).

Note

OSI uses singular instead of plural for repeated field names.

Note

Required for ultrasonic sensors: Detections will be send by the emitting ultrasonic sensor, including all indirect detections received by neighbouring sensors.

repeated CameraDetectionData osi3::FeatureData::camera_sensor = 5

Camera detections for multiple camera sensors (sensor fusion).

Note

OSI uses singular instead of plural for repeated field names.