Struct RadarDetection

Struct Documentation

struct RadarDetection

A radar detection.

Public Members

optional double osi3::RadarDetection::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

Use as confidence measure where a low value means less confidence and a high value indicates strong confidence.

optional Identifier osi3::RadarDetection::object_id = 2

ID of the detected object this detection is associated to.

Note

ID = MAX(uint64) indicates no reference to an object.

optional Spherical3d osi3::RadarDetection::position = 3

Measured position of the detection given in spherical coordinates in the sensor coordinate system.

optional Spherical3d osi3::RadarDetection::position_rmse = 4

Root mean squared error of the measured position of the detection.

optional double osi3::RadarDetection::radial_velocity = 5

Absolute radial (in direction to the sensor) velocity of the detection.

Unit: [m/s]

optional double osi3::RadarDetection::radial_velocity_rmse = 6

Root mean squared error of the object measured radial velocity.

Unit: [m/s]

optional double osi3::RadarDetection::rcs = 7

The radar cross section (RCS) of the radar detection.

Unit: [dB m^2]

optional double osi3::RadarDetection::snr = 8

The signal to noise ratio (SNR) of the radar detection.

Unit: [dB]

optional double osi3::RadarDetection::point_target_probability = 9

Describes the possibility whether more than one object may have led to this detection.

Range: [0.0, 1.0]

optional Identifier osi3::RadarDetection::ambiguity_id = 10

Ambiguity Information: Each ambiguous measurement generates one Ambiguity ID. Ambiguity is indicated by an identical ambiguity ID.

Note

Unambiguous measurements have the ambiguity ID 0.

Note

Multiple seperate detections, from e.g. a large object, do not necessarily on their own create any ambiguity. Therefore they do not usually share an ambiguity ID. They can however be ambiguous with other detections.

optional DetectionClassification osi3::RadarDetection::classification = 11

Basic classification of the detection.