The base attributes of a stationary object or entity. More...
Public Attributes | |
| optional Dimension3d | dimension = 1 |
| optional Vector3d | position = 2 |
| optional Orientation3d | orientation = 3 |
| repeated Vector2d | base_polygon = 4 |
Detailed Description
The base attributes of a stationary object or entity.
This includes the StationaryObject , TrafficSign , TrafficLight , RoadMarking messages.
All coordinates and orientations from ground truth objects are relative to the global ground truth frame (see image). (All coordinates and orientations from detected objects are relative to the host vehicle frame (see: Vehicle vehicle reference point).)
Member Data Documentation
◆ base_polygon
| repeated Vector2d osi3::BaseStationary::base_polygon = 4 |
Usage as ground truth: The two dimensional (flat) contour of the object. This is an extension of the concept of a bounding box as defined by Dimension3d. The contour is the projection of the object's outline onto the z-plane in the object frame (independent of its current position and orientation). The height is the same as the height of the bounding box.
Usage as sensor data: The polygon describes the visible part of the object's contour.
General definitions: The polygon is defined in the local object frame: x pointing forward and y to the left. The origin is the center of the bounding box. As ground truth, the polygon is closed by connecting the last with the first point. Therefore these two points must be different. The polygon must consist of at least three points. As sensor data, however, the polygon is open. The polygon is defined counter-clockwise.
◆ dimension
| optional Dimension3d osi3::BaseStationary::dimension = 1 |
The 3D dimensions of the stationary object (bounding box), e.g. a landmark.
◆ orientation
| optional Orientation3d osi3::BaseStationary::orientation = 3 |
The relative orientation of the stationary object w.r.t. its parent frame, noted in the parent frame. The orientation becomes global/absolute if the parent frame is inertial (all parent frames up to ground truth).
\( Origin_{\text{base stationary entity}} := Rotation_{yaw,pitch,roll}( \) orientation \( )* (Origin_{\text{parent coord system}} - \) position \( )\)
- Note
- There may be some constraints how to align the orientation w.r.t. to some stationary object's or entity's definition.
◆ position
| optional Vector3d osi3::BaseStationary::position = 2 |
The reference point for position and orientation, i.e. the center (x,y,z) of the bounding box.
The documentation for this struct was generated from the following file:
- osi_common.proto
