models: Add existence probability to lane boundary and object

Author: tobifalk

models/include/cloe/component/lane_boundary.hpp

@@ -65,6 +65,7 @@ class LaneBoundary : public Confable {
   double curv_hor_start;
   double curv_hor_change;
   double dx_end;
+  double exist_prob;
   Type type;
   Color color;
 
@@ -74,6 +75,25 @@ class LaneBoundary : public Confable {
 using LaneBoundaries = std::map<int, LaneBoundary>;
 void to_json(Json& j, const LaneBoundaries& lbs);
 
+// clang-format off
+ENUM_SERIALIZATION(LaneBoundary::Type, ({
+    {LaneBoundary::Type::Unknown, "unknown"},
+    {LaneBoundary::Type::Solid, "solid"},
+    {LaneBoundary::Type::Dashed, "dashed"},
+    {LaneBoundary::Type::Grass, "grass"},
+    {LaneBoundary::Type::Curb, "curb"},
+}))
+
+ENUM_SERIALIZATION(LaneBoundary::Color, ({
+    {LaneBoundary::Color::Unknown, "unknown"},
+    {LaneBoundary::Color::White, "white"},
+    {LaneBoundary::Color::Yellow, "yellow"},
+    {LaneBoundary::Color::Red, "red"},
+    {LaneBoundary::Color::Green, "green"},
+    {LaneBoundary::Color::Blue, "blue"},
+}))
+// clang-format on
+
 }  // namespace cloe
 
 #endif  // CLOE_COMPONENT_LANE_BOUNDARY_HPP_

models/include/cloe/component/object.hpp

@@ -53,47 +53,42 @@ struct Object {
 
   enum class Class { Unknown, Pedestrian, Bike, Motorbike, Car, Truck, Trailer };
 
-  /// ID of object, should be unique
-  int id;
+  /// ID of object, should be unique.
+  int id{-1};
 
-  /// Type of object
-  Type type;
+  /// Object existence probability.
+  double exist_prob{1.0};
 
-  /// Classification of object
-  Class classification;
+  /// Type of object.
+  Type type{Type::Unknown};
 
-  /// Pose in [m] and [rad]
-  Eigen::Isometry3d pose;
+  /// Classification of object.
+  Class classification{Class::Unknown};
 
-  /// Dimensions in [m]
-  Eigen::Vector3d dimensions;
+  /// Pose in [m] and [rad].
+  Eigen::Isometry3d pose{Eigen::Isometry3d()};
 
-  /// Center of geometry offset in [m]
-  Eigen::Vector3d cog_offset;
+  /// Dimensions in [m].
+  Eigen::Vector3d dimensions{Eigen::Vector3d::Zero()};
 
-  /// Absolute velocity in [m/s]
-  Eigen::Vector3d velocity;
+  /// Center of geometry offset in [m].
+  Eigen::Vector3d cog_offset{Eigen::Vector3d::Zero()};
 
-  /// Absolute acceleration in [m/(s*s)]
-  Eigen::Vector3d acceleration;
+  /// Absolute velocity in [m/s].
+  Eigen::Vector3d velocity{Eigen::Vector3d::Zero()};
 
-  /// Angular velocity in [rad/s]
-  Eigen::Vector3d angular_velocity;
+  /// Absolute acceleration in [m/(s*s)].
+  Eigen::Vector3d acceleration{Eigen::Vector3d::Zero()};
 
-  Object()
-      : id(-1)
-      , type(Type::Unknown)
-      , classification(Class::Unknown)
-      , pose(Eigen::Isometry3d())
-      , dimensions(Eigen::Vector3d::Zero())
-      , cog_offset(Eigen::Vector3d::Zero())
-      , velocity(Eigen::Vector3d::Zero())
-      , acceleration(Eigen::Vector3d::Zero())
-      , angular_velocity(Eigen::Vector3d::Zero()) {}
+  /// Angular velocity in [rad/s].
+  Eigen::Vector3d angular_velocity{Eigen::Vector3d::Zero()};
+
+  Object() = default;
 
   friend void to_json(Json& j, const Object& o) {
     j = Json{
         {"id", o.id},
+        {"exist_prob", o.exist_prob},
         {"type", o.type},
         {"class", o.classification},
         {"pose", o.pose},

models/src/cloe/component/lane_boundary.cpp

@@ -33,25 +33,6 @@
 
 namespace cloe {
 
-// clang-format off
-ENUM_SERIALIZATION(LaneBoundary::Type, ({
-    {LaneBoundary::Type::Unknown, "unknown"},
-    {LaneBoundary::Type::Solid, "solid"},
-    {LaneBoundary::Type::Dashed, "dashed"},
-    {LaneBoundary::Type::Grass, "grass"},
-    {LaneBoundary::Type::Curb, "curb"},
-}))
-
-ENUM_SERIALIZATION(LaneBoundary::Color, ({
-    {LaneBoundary::Color::Unknown, "unknown"},
-    {LaneBoundary::Color::White, "white"},
-    {LaneBoundary::Color::Yellow, "yellow"},
-    {LaneBoundary::Color::Red, "red"},
-    {LaneBoundary::Color::Green, "green"},
-    {LaneBoundary::Color::Blue, "blue"},
-}))
-// clang-format on
-
 void LaneBoundary::to_json(Json& j) const {
   j = Json{
       {"id", id},
@@ -63,6 +44,7 @@ void LaneBoundary::to_json(Json& j) const {
       {"curv_hor_start", curv_hor_start},
       {"curv_hor_change", curv_hor_change},
       {"dx_end", dx_end},
+      {"exist_prob", exist_prob},
       {"type", type},
       {"color", color},
       {"points", points},
@@ -71,17 +53,20 @@ void LaneBoundary::to_json(Json& j) const {
 
 Schema LaneBoundary::schema_impl() {
   return schema::Struct{
+      // clang-format off
       {"id", Schema(&id, "unique identifier in scene graph")},
       {"prev_id", Schema(&prev_id, "previous identifier")},
       {"next_id", Schema(&next_id, "next identifier")},
-      {"dx_start", Schema(&dx_start, "")},
-      {"dy_start", Schema(&dy_start, "")},
-      {"heading_start", Schema(&heading_start, "")},
-      {"curv_hor_start", Schema(&curv_hor_start, "")},
-      {"curv_hor_change", Schema(&curv_hor_change, "")},
-      {"dx_end", Schema(&dx_end, "")},
+      {"dx_start", Schema(&dx_start, "start of lane boundary in ego x-direction [m]")},
+      {"dy_start", Schema(&dy_start, "lateral distance to ego vehicle reference point [m]")},
+      {"heading_start", Schema(&heading_start, "yaw angle relative to ego x-direction [rad]")},
+      {"curv_hor_start", Schema(&curv_hor_start, "horizontal curvature at lane boundary start [1/m]")},
+      {"curv_hor_change", Schema(&curv_hor_change, "change of horizontal curvature at lane boundary start [1/m^2]")},
+      {"dx_end", Schema(&dx_end, "end of lane boundary in ego x-direction [m]")},
+      {"exist_prob", Schema(&exist_prob, "existence probability")},
       {"type", Schema(&type, "lane boundary type")},
       {"color", Schema(&color, "lane boundary color")},
+      // clang-format on
   }
       .require_all();
 }