vtd: Set object existence probabilities

Author: tobifalk

plugins/vtd/src/omni_sensor_component.cpp

@@ -109,6 +109,7 @@ Eigen::Isometry3d from_vtd_pose(const RDB_COORD_t& x) {
 
 void from_vtd_object_state(const RDB_OBJECT_STATE_t* rdb_os, bool ext, cloe::Object& object) {
   object.id = rdb_os->base.id;
+  object.exist_prob = 1.0;
   object.type = cloe::Object::Type::Static;
   object.classification = vtd_object_class_map.at(rdb_os->base.type);
 
@@ -177,6 +178,8 @@ void from_vtd_roadmark(const RDB_ROADMARK_t* rm, cloe::LaneBoundary& lb) {
     lb.points.push_back(Eigen::Vector3d(current_point->x, current_point->y, current_point->z));
   }
 
+  lb.exist_prob = 1.0;
+
   // clang-format off
   lane_logger()->trace(
       "# {: 2d}  "

plugins/vtd/src/osi_omni_sensor.cpp

@@ -124,7 +124,12 @@ void from_osi_detected_item_header(const osi3::DetectedItemHeader& osi_hdr, cloe
   // supported.
   auto osi_obj_gt_id = osi_hdr.ground_truth_id(0);
   from_osi_identifier(osi_obj_gt_id, obj.id);
-  // TODO(tobias): osi_hdr.existence_probability()
+  // Existence probability
+  if (osi_hdr.has_existence_probability()) {
+    obj.exist_prob = osi_hdr.existence_probability();
+  } else {
+    obj.exist_prob = 1.0;
+  }
 }
 
 void from_osi_detected_moving_object(const osi3::DetectedMovingObject& osi_mo, cloe::Object& obj) {
@@ -503,6 +508,7 @@ void OsiOmniSensor::process(const osi3::SensorView& osi_sv) {
 void OsiOmniSensor::process(const bool has_veh_data, const osi3::HostVehicleData& osi_hv,
                             const osi3::MovingObject& osi_ego) {
   auto obj = std::make_shared<cloe::Object>();
+  obj->exist_prob = 1.0;
 
   // Object id
   from_osi_identifier(osi_ego.id(), obj->id);