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Public Member Functions | Protected Attributes | List of all members
osii::OsiGroundTruth Class Reference

#include <osi_ground_truth.hpp>

Public Member Functions

void set (const osi3::GroundTruth &osi_gt)
 
const osi3::GroundTruth & get_gt () const
 
void store_veh_coord_sys_info (int obj_id, const osi3::MovingObject::VehicleAttributes &osi_va)
 
const Eigen::Vector3d & get_veh_coord_sys_info (int obj_id) const
 
void store_mov_obj_dimensions (int obj_id, const osi3::Dimension3d &obj_dim)
 
const Eigen::Vector3d & get_mov_obj_dimensions (int obj_id) const
 
void reset ()
 
uint64_t get_ego_id () const
 
const osi3::MovingObject * get_moving_object (const uint64_t id) const
 

Protected Attributes

const osi3::GroundTruth * gt_ptr_ {nullptr}
 Pointer to ground truth object of the processed OSI message.
 
std::map< int, Eigen::Vector3d > veh_bbcenter_to_rear_
 Store object coordinate system info for each object <obj_id,offset>.
 
std::map< int, Eigen::Vector3d > mov_obj_dimensions_
 Store moving object dimensions for each object <obj_id,dimensions>.
 

Detailed Description

OsiGroundTruth provides convenient access to auxiliary ground truth information while processing an OSI message.

Member Function Documentation

◆ get_ego_id()

uint64_t osii::OsiGroundTruth::get_ego_id ( ) const
inline

Get the ground truth id of the ego vehicle.

◆ get_mov_obj_dimensions()

const Eigen::Vector3d& osii::OsiGroundTruth::get_mov_obj_dimensions ( int  obj_id) const
inline

Get dimensions of a moving object, e.g. for coordinate transformations.

◆ get_moving_object()

const osi3::MovingObject * osii::OsiGroundTruth::get_moving_object ( const uint64_t  id) const

Get ground truth information for the requested moving object.

◆ get_veh_coord_sys_info()

const Eigen::Vector3d& osii::OsiGroundTruth::get_veh_coord_sys_info ( int  obj_id) const
inline

Get the offset between coordinate reference frames of a vehicle (rear axle center) and the bounding box center, e.g. for coordinate transformations.

◆ reset()

void osii::OsiGroundTruth::reset ( )
inline

Discard all data, e.g after processing an OSI message.

◆ set()

void osii::OsiGroundTruth::set ( const osi3::GroundTruth &  osi_gt)
inline

Store address of the GroundTruth object belonging to the OSI message that is to be processed.

The documentation for this class was generated from the following files: