osi3::LidarDetection Struct Reference

A point or vertical line in a lidar point cloud. More...

Collaboration diagram for osi3::LidarDetection:

Public Attributes
optional double	existence_probability = 1
	Existence probability of the detection not based on history. More...
optional Identifier	object_id = 2
	ID of the detected object this detection is associated to. More...
optional Spherical3d	position = 3
	Measured position of the detection given in spherical coordinates in the sensor coordinate system. More...
optional Spherical3d	position_rmse = 4
	Root mean squared error of the measured position of the detection. More...
optional double	height = 5
	The height value which is required when multiple scan points are vertically clustered. More...
optional double	height_rmse = 6
	Root mean squared error of the object height. More...
optional double	intensity = 7
	Intensity or equivalent value of the detection's echo. More...
optional double	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. More...
optional DetectionClassification	classification = 9
	Basic classification of the detection. More...
optional double	reflectivity = 10
	Lambertian reflectivity. More...
optional double	echo_pulse_width = 11
	Echo pulse width of the detection's echo. More...

Detailed Description

A point or vertical line in a lidar point cloud.

Member Data Documentation

existence_probability

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.

Note

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

Rules

is_greater_than_or_equal_to: 0
is_less_than_or_equal_to: 1

object_id

optional Identifier osi3::LidarDetection::object_id = 2

ID of the detected object this detection is associated to.

Note

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

Rules

refers_to: DetectedObject

position

optional Spherical3d osi3::LidarDetection::position = 3

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

position_rmse

optional Spherical3d osi3::LidarDetection::position_rmse = 4

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

height

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

Rules

is_greater_than_or_equal_to: 0

height_rmse

optional double osi3::LidarDetection::height_rmse = 6

Root mean squared error of the object height.

Unit: m

Rules

is_greater_than_or_equal_to: 0

intensity

optional double osi3::LidarDetection::intensity = 7

Intensity or equivalent value of the detection's echo.

Unit: %

Rules

is_greater_than_or_equal_to: 0
is_less_than_or_equal_to: 100

free_space_probability

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.

Rules

is_greater_than_or_equal_to: 0
is_less_than_or_equal_to: 1

classification

optional DetectionClassification osi3::LidarDetection::classification = 9

Basic classification of the detection.

reflectivity

optional double osi3::LidarDetection::reflectivity = 10

Lambertian reflectivity.

echo_pulse_width

optional double osi3::LidarDetection::echo_pulse_width = 11

Echo pulse width of the detection's echo.

Several sensors output an echo pulse width instead of an intensity for each individual detection. The echo pulse is measured in m and measures the extent of the object parts or atmospheric particles that produce the echo.

Note

For more details see [1] Fig. 7 and 8.

Fig. 7 shows an example where the two echos are reflected from the edges A-B and C-D.

Fig. 8 shows how the echo pulse width is measured as the range between the rising edge and the falling edge that crosses the intensity threshold.

Unit: m

Rules

is_greater_than_or_equal_to: 0

Reference:

[1] Rosenberger, P., Holder, M.F., Cianciaruso, N. et al. (2020). Sequential lidar sensor system simulation: a modular approach for simulation-based safety validation of automated driving Automot. Engine Technol. 5, Fig 7, Fig 8. Retrieved May 10, 2021, from https://doi.org/10.1007/s41104-020-00066-x

---

The documentation for this struct was generated from the following file:

• osi_featuredata.proto