osi_omni_sensor.hpp File Reference

#include <map>
#include <memory>
#include <string>
#include <utility>
#include <Eigen/Geometry>
#include <cloe/component/lane_boundary.hpp>
#include <cloe/component/object.hpp>
#include <cloe/core.hpp>
#include <cloe/simulator.hpp>
#include <cloe/sync.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_ground_truth.hpp"
#include "osi_transceiver.hpp"
#include "osi_utils.hpp"

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Classes
class	osii::OsiOmniSensor

Enumerations
enum class	osii::SensorMockTarget { MountingPosition , DetectedMovingObject , DetectedLaneBoundary }
enum class	osii::SensorMockLevel { OverwriteNone , InterpolateMissing , OverwriteAll }

Functions
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_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)
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::from_osi_detected_moving_object_alt (const osi3::DetectedMovingObject &osi_mo, const OsiGroundTruth &ground_truth, cloe::Object &obj)
void	osii::from_osi_boundary_points (const osi3::LaneBoundary &osi_lb, cloe::LaneBoundary &lb)
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)
Eigen::Isometry3d	osii::osi_position_orientation_to_pose_alt (const osi3::BaseMoving &base, const osi3::BaseMoving &base_gt)
Eigen::Vector3d	osii::osi_vehicle_attrib_rear_offset_to_vector3d (const osi3::MovingObject::VehicleAttributes &osi_va)

Detailed Description

See also

osi_omni_sensor.cpp

Enumeration Type Documentation

SensorMockLevel

enum osii::SensorMockLevel

strong

SensorMockLevel determines to which degree an OSI message of a certain data type should be overwritten by ground truth information:

• Zero means that the message is not altered (default behavior).
• MissingData means that unavailable data fields are filled.
• All means that the entire message is overwritten.

SensorMockTarget

enum osii::SensorMockTarget

strong

OSI messages of the listed data types may be overwritten by ground truth information, if requested by the user.

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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osi_vehicle_attrib_rear_offset_to_vector3d()

Eigen::Vector3d osii::osi_vehicle_attrib_rear_offset_to_vector3d

(

const osi3::MovingObject::VehicleAttributes &

osi_va

)

Convert vehicle attribute bbcenter_to_rear into Eigen::Vector3d.

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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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