Defines information associated with an object detected by an algorithm
Synopsis:
#include <adas/adas_fusion_defs.h>
typedef struct {
struct {
uint32_t id;
adas_sensor_type_t type;
} origin;
uint64_t timestamp;
adas_fusion_object_type_t type;
struct {
adas_fusion_metrics_flag_t flags;
uint8_t reflectivity;
adas_fusion_distance_flag_t distance_flag;
uint32_t distance;
int32_t speed;
int32_t lateral_speed;
int32_t acceleration;
uint32_t reserved[8];
} metrics;
union {
adas_cube_t bounds;
double reserved[12];
}
char text[FUSION_OBJECT_TEXT_LENGTH];
} adas_fusion_object_data_t;
Data:
- struct origin
- Information that describes the sensor with which this detection
occurred. These are the members of this structure:
- uint32_t id
- The unique identifier associated with the
sensor with which this detection occurred.
- adas_sensor_type_t type
- The type of sensor with which this detection occurred.
- uint64_t timestamp
- The timestamp associated with the last detection of the object.
- It is in units of microseconds using the clock domain of the sensor library.
- adas_fusion_object_type_t type
- The type of object that was recognized for this object.
- struct metrics
- Additional metrics associated with the object. These are the members of this
structure:
- adas_fusion_metrics_flag_t flags
- Flags indicating which of the following metrics have been filled.
- uint8_t reflectivity
- Detected reflectivity associated with the object; the higher
the value, the more reflective is the object.
- adas_fusion_distance_flag_t distance_flag
- A flag indicating how the distance measurement was made (see
adas_fusion_distance_flag_t).
- uint32_t distance
- The measured distance, in millimeters.
- int32_t speed
- The speed of the object, in millimeters per second.
- int32_t lateral_speed
- The lateral speed of the object, in millimeters per second.
- int32_t acceleration
- The acceleration of the object, in millimeters per second squared.
- uint32_t reserved[8]
- For internal use only; do not use.
- union
- These are the members of the union:
- adas_cube_t bounds
- The bounding cube around the object.
- double reserved[12]
- For internal use only; do not use.
- char text[FUSION_OBJECT_TEXT_LENGTH]
- A string describing the object.
Library:
libadas