adas_fusion_object_data

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