Struct LidarDetection¶

Struct Documentation¶

struct LidarDetection¶

A point or vertical line in a lidar point cloud.

Public Members

optional double osi3::LidarDetection::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::LidarDetection::object_id = 2

ID of the detected object this detection is associated to.

optional Spherical3d osi3::LidarDetection::position = 3: Measured position of the detection given in spherical coordinates in the sensor coordinate system.

optional Spherical3d osi3::LidarDetection::position_rmse = 4: Root mean squared error of the measured position of the detection.

optional double osi3::LidarDetection::height = 5

The height value which is required when multiple scan points are vertically clustered. Only vertical clustering is allowed (z-axis).

Unit: [m]

optional double osi3::LidarDetection::height_rmse = 6

Root mean squared error of the object height.

Unit: [m]

optional double osi3::LidarDetection::intensity = 7

Intensity or equivalent value of the detection’s echo.

Unit: [%]

optional double osi3::LidarDetection::free_space_probability = 8

The free space probability in the range [0.0, 1.0] from the origin of the sensor up to this detection, as given by the distance.

Range: [0.0, 1.0]

optional DetectionClassification osi3::LidarDetection::classification = 9: Basic classification of the detection.

optional double osi3::LidarDetection::reflectivity = 10: Lambertian reflectivity.