osi_omni_sensor.cpp File Reference

#include "osi_omni_sensor.hpp"
#include <math.h>
#include <algorithm>
#include <cassert>
#include <map>
#include <Eigen/Geometry>
#include <cloe/component/lane_boundary.hpp>
#include <cloe/component/object.hpp>
#include <cloe/core.hpp>
#include <cloe/simulator.hpp>
#include <cloe/utility/geometry.hpp>
#include "osi_common.pb.h"
#include "osi_detectedobject.pb.h"
#include "osi_hostvehicledata.pb.h"
#include "osi_object.pb.h"
#include "osi_sensordata.pb.h"
#include "osi_sensorview.pb.h"
#include "osi_ground_truth.hpp"
#include "osi_utils.hpp"

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Functions
Eigen::Isometry3d	osii::osi_position_orientation_to_pose_alt (const osi3::BaseMoving &base, const osi3::BaseMoving &base_gt)
cloe::Duration	osii::osi_timestamp_to_time (const osi3::Timestamp &timestamp)
void	osii::from_osi_identifier (const osi3::Identifier &osi_id, int &id)
void	osii::from_osi_host_vehicle_data (const osi3::HostVehicleData &osi_hv, cloe::Object &obj)
void	osii::from_osi_detected_item_header (const osi3::DetectedItemHeader &osi_hdr, cloe::Object &obj)
void	osii::from_osi_detected_moving_object (const osi3::DetectedMovingObject &osi_mo, cloe::Object &obj)
void	osii::from_osi_detected_moving_object_alt (const osi3::DetectedMovingObject &osi_mo, const OsiGroundTruth &ground_truth, cloe::Object &obj)
void	osii::from_osi_base_moving (const osi3::BaseMoving &osi_bm, cloe::Object &obj)
void	osii::from_osi_base_moving_alt (const osi3::BaseMoving &osi_bm, const osi3::BaseMoving &osi_bm_gt, cloe::Object &obj)
template<typename T >
void	osii::from_osi_mov_obj_type_classification (const T &osi_mo, cloe::Object::Class &oc)
template void	osii::from_osi_mov_obj_type_classification< osi3::MovingObject > (const osi3::MovingObject &osi_mo, cloe::Object::Class &oc)
template void	osii::from_osi_mov_obj_type_classification< osi3::DetectedMovingObject::CandidateMovingObject > (const osi3::DetectedMovingObject::CandidateMovingObject &osi_mo, cloe::Object::Class &oc)
void	osii::from_osi_mov_obj_type_classification (const osi3::MovingObject::Type &osi_ot, const osi3::MovingObject::VehicleClassification::Type &osi_vt, cloe::Object::Class &oc)
void	osii::transform_ego_coord_from_osi_data (const Eigen::Vector3d &dimensions_gt, cloe::Object &obj)
void	osii::transform_obj_coord_from_osi_data (const Eigen::Isometry3d &sensor_pose, const Eigen::Vector3d &dimensions_gt, cloe::Object &obj)

Variables
const std::map< osi3::MovingObject::Type, cloe::Object::Class >	osii::osi_mov_obj_type_map
const std::map< osi3::MovingObject::VehicleClassification::Type, cloe::Object::Class >	osii::osi_mov_veh_class_map
const std::map< osi3::LaneBoundary_Classification_Type, cloe::LaneBoundary::Type >	osii::osi_lane_bdry_type_map
const std::map< int, cloe::LaneBoundary::Color >	osii::osi_lane_bdry_color_map

Detailed Description

See also

osi_omni_sensor.hpp

Function Documentation

from_osi_base_moving()

void osii::from_osi_base_moving	(	const osi3::BaseMoving &	osi_bm,
		cloe::Object &	obj
	)

Map the OSI data fields without taking care of transformations to the Cloe reference frame convention. Note that the OSI reference frame may differ for different object data types.

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from_osi_base_moving_alt()

void osii::from_osi_base_moving_alt	(	const osi3::BaseMoving &	osi_bm,
		const osi3::BaseMoving &	osi_bm_gt,
		cloe::Object &	obj
	)

As from_osi_base_moving, but use ground truth information if required data is not provided by sensor (model).

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from_osi_host_vehicle_data()

void osii::from_osi_host_vehicle_data	(	const osi3::HostVehicleData &	osi_hv,
		cloe::Object &	obj
	)

OSI host vehicle coordinates/orientations are relative to the global ground truth coordinate system. Here, this data is stored in a Cloe object.

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osi_timestamp_to_time()

cloe::Duration osii::osi_timestamp_to_time

(

const osi3::Timestamp &

timestamp

)

Convert OSI timestamp to Cloe time format.

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transform_obj_coord_from_osi_data()

void osii::transform_obj_coord_from_osi_data	(	const Eigen::Isometry3d &	sensor_pose,
		const Eigen::Vector3d &	dimensions_gt,
		cloe::Object &	obj
	)

Parameters

sensor_pose	Relation between the sensor frame and the ego vehicle frame, expressed in the ego vehicle frame.
obj	When enter: Geometric information in ego vehicle frame. When return: Geometric information in sensor frame.

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Variable Documentation

osi_lane_bdry_color_map

const std::map<int, cloe::LaneBoundary::Color> osii::osi_lane_bdry_color_map

Initial value:

= {
    {osi3::LaneBoundary_Classification_Color_COLOR_UNKNOWN, cloe::LaneBoundary::Color::Unknown},
    {osi3::LaneBoundary_Classification_Color_COLOR_OTHER, cloe::LaneBoundary::Color::Unknown},
    {osi3::LaneBoundary_Classification_Color_COLOR_NONE, cloe::LaneBoundary::Color::Unknown},
    {osi3::LaneBoundary_Classification_Color_COLOR_WHITE, cloe::LaneBoundary::Color::White},
    {osi3::LaneBoundary_Classification_Color_COLOR_YELLOW, cloe::LaneBoundary::Color::Yellow},
    {osi3::LaneBoundary_Classification_Color_COLOR_RED, cloe::LaneBoundary::Color::Red},
    {osi3::LaneBoundary_Classification_Color_COLOR_BLUE, cloe::LaneBoundary::Color::Blue},
    {osi3::LaneBoundary_Classification_Color_COLOR_GREEN, cloe::LaneBoundary::Color::Green},
    {osi3::LaneBoundary_Classification_Color_COLOR_VIOLET, cloe::LaneBoundary::Color::Unknown},
}

Convert from OSI lane boundary colors to Cloe colors.

osi_lane_bdry_type_map

const std::map<osi3::LaneBoundary_Classification_Type, cloe::LaneBoundary::Type> osii::osi_lane_bdry_type_map

Initial value:

= {
        
        {osi3::LaneBoundary_Classification_Type_TYPE_UNKNOWN, cloe::LaneBoundary::Type::Unknown},
        {osi3::LaneBoundary_Classification_Type_TYPE_OTHER, cloe::LaneBoundary::Type::Unknown},
        {osi3::LaneBoundary_Classification_Type_TYPE_NO_LINE, cloe::LaneBoundary::Type::Unknown},
        {osi3::LaneBoundary_Classification_Type_TYPE_SOLID_LINE, cloe::LaneBoundary::Type::Solid},
        {osi3::LaneBoundary_Classification_Type_TYPE_DASHED_LINE, cloe::LaneBoundary::Type::Dashed},
        {osi3::LaneBoundary_Classification_Type_TYPE_BOTTS_DOTS, cloe::LaneBoundary::Type::Unknown},
        {osi3::LaneBoundary_Classification_Type_TYPE_ROAD_EDGE, cloe::LaneBoundary::Type::Unknown},
        {osi3::LaneBoundary_Classification_Type_TYPE_SNOW_EDGE, cloe::LaneBoundary::Type::Unknown},
        {osi3::LaneBoundary_Classification_Type_TYPE_GRASS_EDGE, cloe::LaneBoundary::Type::Grass},
        {osi3::LaneBoundary_Classification_Type_TYPE_GRAVEL_EDGE, cloe::LaneBoundary::Type::Unknown},
        {osi3::LaneBoundary_Classification_Type_TYPE_SOIL_EDGE, cloe::LaneBoundary::Type::Unknown},
        {osi3::LaneBoundary_Classification_Type_TYPE_GUARD_RAIL, cloe::LaneBoundary::Type::Unknown},
        {osi3::LaneBoundary_Classification_Type_TYPE_CURB, cloe::LaneBoundary::Type::Curb},
        {osi3::LaneBoundary_Classification_Type_TYPE_STRUCTURE, cloe::LaneBoundary::Type::Unknown},
        
}

Convert from OSI lane boundary types to Cloe types.

osi_mov_obj_type_map

const std::map<osi3::MovingObject::Type, cloe::Object::Class> osii::osi_mov_obj_type_map

Initial value:

= {
    {osi3::MovingObject_Type_TYPE_UNKNOWN, cloe::Object::Class::Unknown},
    {osi3::MovingObject_Type_TYPE_OTHER, cloe::Object::Class::Unknown},
    {osi3::MovingObject_Type_TYPE_ANIMAL, cloe::Object::Class::Unknown},
    {osi3::MovingObject_Type_TYPE_PEDESTRIAN, cloe::Object::Class::Pedestrian},
}

Convert from OSI moving object type to Cloe object classification. Note that vehicles are treated explicitly in osi_mov_veh_class_map.

osi_mov_veh_class_map

const std::map<osi3::MovingObject::VehicleClassification::Type, cloe::Object::Class> osii::osi_mov_veh_class_map

Initial value:

= {
        {osi3::MovingObject_VehicleClassification_Type_TYPE_UNKNOWN, cloe::Object::Class::Unknown},
        {osi3::MovingObject_VehicleClassification_Type_TYPE_OTHER, cloe::Object::Class::Unknown},
        {osi3::MovingObject_VehicleClassification_Type_TYPE_SMALL_CAR, cloe::Object::Class::Car},
        {osi3::MovingObject_VehicleClassification_Type_TYPE_COMPACT_CAR, cloe::Object::Class::Car},
        {osi3::MovingObject_VehicleClassification_Type_TYPE_MEDIUM_CAR, cloe::Object::Class::Car},
        {osi3::MovingObject_VehicleClassification_Type_TYPE_LUXURY_CAR, cloe::Object::Class::Car},
        {osi3::MovingObject_VehicleClassification_Type_TYPE_DELIVERY_VAN,
         cloe::Object::Class::Truck},
        {osi3::MovingObject_VehicleClassification_Type_TYPE_HEAVY_TRUCK,
         cloe::Object::Class::Truck},
        {osi3::MovingObject_VehicleClassification_Type_TYPE_SEMITRAILER,
         cloe::Object::Class::Truck},
        {osi3::MovingObject_VehicleClassification_Type_TYPE_TRAILER, cloe::Object::Class::Unknown},
        {osi3::MovingObject_VehicleClassification_Type_TYPE_MOTORBIKE,
         cloe::Object::Class::Motorbike},
        {osi3::MovingObject_VehicleClassification_Type_TYPE_BICYCLE, cloe::Object::Class::Bike},
        {osi3::MovingObject_VehicleClassification_Type_TYPE_BUS, cloe::Object::Class::Truck},
        {osi3::MovingObject_VehicleClassification_Type_TYPE_TRAM, cloe::Object::Class::Unknown},
        {osi3::MovingObject_VehicleClassification_Type_TYPE_TRAIN, cloe::Object::Class::Unknown},
        {osi3::MovingObject_VehicleClassification_Type_TYPE_WHEELCHAIR,
         cloe::Object::Class::Unknown},
}

Convert from OSI moving vehicle type to Cloe object classification. Note that objects other than vehicles are treated explicitly in osi_mov_obj_type_map.