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Add HostVehicleData to SensorData #480
Signed-off-by: Schlömicher Thomas <thomas.schloemicher@avl.com> Signed-off-by: Schloemicher, Thomas AVL,AT <thomas.schloemicher@avl.com>
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‎osi_sensordata.proto.orig‎

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syntax = "proto2";
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option optimize_for = SPEED;
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import "osi_version.proto";
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import "osi_common.proto";
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import "osi_detectedtrafficsign.proto";
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import "osi_detectedtrafficlight.proto";
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import "osi_detectedroadmarking.proto";
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import "osi_detectedlane.proto";
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import "osi_detectedobject.proto";
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import "osi_detectedoccupant.proto";
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import "osi_sensorview.proto";
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import "osi_featuredata.proto";
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<<<<<<< HEAD
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import "osi_logicaldetectiondata.proto";
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=======
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import "osi_hostvehicledata.proto"
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>>>>>>> Add HostVehicleData to SensorData #480
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package osi3;
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//
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// \brief The header attributes of each detected entity.
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//
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message DetectedEntityHeader
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{
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// Time stamp at which the measurement was taken (not the time at which it
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// was processed or at which it is transmitted) in the global synchronized
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// time.
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//
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// \note See \c SensorData::timestamp and \c
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// SensorData::last_measurement_time for detailed discussions on the
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// semantics of time-related fields.
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//
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optional Timestamp measurement_time = 1;
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// Continuous up counter to identify the cycle.
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//
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optional uint64 cycle_counter = 2;
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// Data Qualifier expresses to what extent the content of this event can be
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// relied on.
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//
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optional DataQualifier data_qualifier = 3;
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//
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// Data qualifier communicates the overall availability of the
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// interface.
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//
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enum DataQualifier
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{
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// Unknown (must not be used in ground truth).
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//
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DATA_QUALIFIER_UNKNOWN = 0;
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// Other (unspecified but known).
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//
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DATA_QUALIFIER_OTHER = 1;
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// Data is available.
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//
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DATA_QUALIFIER_AVAILABLE = 2;
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// Reduced data is available.
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//
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DATA_QUALIFIER_AVAILABLE_REDUCED = 3;
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// Data is not available.
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//
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DATA_QUALIFIER_NOT_AVAILABLE = 4;
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// Sensor is blind.
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//
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DATA_QUALIFIER_BLINDNESS = 5;
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// Sensor temporary available.
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//
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DATA_QUALIFIER_TEMPORARY_AVAILABLE = 6;
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}
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}
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//
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// \brief The sensor information derived from \c GroundTruth and processed by
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// sensor-models.
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//
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// The sensor information is supposed to imitate the output of real sensors.
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// All information regarding the environment is given with respect to
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// the virtual sensor coordinate system specified in
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// \c SensorData::mounting_position, except for feature data, which is given
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// with respect to the physical sensor coordinate system specified in the
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// corresponding physical sensor's coordinate system.
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//
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// When simulating multiple distinct sensors, each sensor can produce an
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// individual copy of the \c SensorData interface. This allows an independent
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// treatment of the sensors.
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//
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// Sensor fusion models can consolidate multiple \c SensorData interfaces into
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// one consolidated \c SensorData interface. This can happen either in
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// separate logical models, consuming and producing \c SensorData interfaces,
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// or it can happen as part of a combined sensor/logical model, that consumes
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// \c SensorView interfaces and directly produces one consolidated \c SensorData
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// output.
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//
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message SensorData
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{
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// The interface version used by the sender.
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//
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optional InterfaceVersion version = 1;
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// The timestamp of the sensor data. Zero time is arbitrary but must be
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// identical for all messages. Zero time does not need to coincide with
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// the unix epoch. Recommended is the starting time point of the
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// simulation.
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//
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// \note This is the point in time that the sensor data message becomes
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// available to the rest of the system (i.e. the driving functions), so
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// it corresponds with the sending time and thus takes the latency of
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// internal processing of the sensor into account. Latencies of bus
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// communications, etc., that occur after the sensor output have to be
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// applied on top of this, if needed.
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//
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// The time that the actual measurement was performed (which will usually
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// correspond with the timestamp of the \c GroundTruth the sensor model
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// processed to arrive at these results) can be found in the additional
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// field \c SensorData::last_measurement_time.
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//
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// For an ideal zero latency sensor the two timestamps would be the same
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// and would correspond with the timestamp from the current \c GroundTruth
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// message.
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//
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// For a sensor model that does not know its own internal latencies (e.g.
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// a dumb sensor with no internal time concept), the two timestamps might
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// also be identical, but delayed from the \c GroundTruth timestamp.
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//
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optional Timestamp timestamp = 2;
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// Deprecated: Will be removed in next major release. Moved to HostVehicleData.VehiclePositionAndKinematics.
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// The sensors estimated location of the host vehicle
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//
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// \note This value is only set by sensors that are able to
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// provide an own estimation of the host vehicle location.
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// \note Note that dimension and base_polygon need not be set.
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// \note The parent frame of \c host_vehicle_location is the sensor frame.
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//
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optional BaseMoving host_vehicle_location = 3;
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// Deprecated: Will be removed in next major release. Moved to HostVehicleData.VehiclePositionAndKinematics.
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// The sensors estimated location error of the host vehicle
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//
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// \note This value is only set by sensors that are able to
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// provide an own estimation of the host vehicle location.
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// \note Note that dimension and base_polygon need not be set.
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// \note The parent frame of \c host_vehicle_location_rmse is the sensor
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// frame.
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//
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optional BaseMoving host_vehicle_location_rmse = 4;
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// The ID of the sensor at host vehicle's mounting_position.
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//
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// This is the ID of the virtual sensor, to be used in its detected
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// object output; it is distinct from the IDs of its physical detectors,
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// which are used in the detected features.
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//
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optional Identifier sensor_id = 5;
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// The virtual mounting position of the sensor (origin and orientation
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// of the sensor coordinate system) given in vehicle coordinates [1].
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// The virtual position pertains to the sensor as a whole, regardless
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// of the actual position of individual physical detectors, and governs
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// the sensor-relative coordinates in detected objects of the sensor
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// as a whole. Individual features detected by individual physical
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// detectors are governed by the actual physical mounting positions
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// of the detectors, as indicated in the technology-specific sub-views
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// and sub-view configurations.
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//
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// \arg \b x-direction of sensor coordinate system: sensor viewing direction
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// \arg \b z-direction of sensor coordinate system: sensor (up)
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// \arg \b y-direction of sensor coordinate system: perpendicular to x and z
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// right hand system
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//
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// \par Reference:
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// [1] DIN Deutsches Institut fuer Normung e. V. (2013). <em>DIN ISO 8855 Strassenfahrzeuge - Fahrzeugdynamik und Fahrverhalten - Begriffe</em>. (DIN ISO 8855:2013-11). Berlin, Germany.
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//
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// \note This field is usually static during the simulation.
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// \note The origin of vehicle's coordinate system in world frame is
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// ( \c MovingObject::base . \c BaseMoving::position +
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// Inverse_Rotation_yaw_pitch_roll( \c MovingObject::base . \c
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// BaseMoving::orientation) * \c
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// MovingObject::VehicleAttributes::bbcenter_to_rear) . The orientation of
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// the vehicle's coordinate system is equal to the orientation of the
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// vehicle's bounding box \c MovingObject::base . \c
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// BaseMoving::orientation.
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//
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optional MountingPosition mounting_position = 6;
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// The root mean squared error of the mounting position.
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//
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optional MountingPosition mounting_position_rmse = 7;
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// Sensor view w.r.t. the sensor coordinate system
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//
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// This provides a copy of the \c SensorView data received by the sensor
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// for reference purposes. For complex sensors or logic models this
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// can be multiple copies.
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//
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// \note OSI uses singular instead of plural for repeated field names.
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//
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repeated SensorView sensor_view = 8;
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// The timestamp of the last real-world measurement (e.g. GT input) that
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// this set of sensor data takes into account. This in effect is the last
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// time instance of reality the measurements correspond to. See field
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// \c SensorData::timestamp for a detailed discussion. This value is also
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// the upper bound to the \c DetectedEntityHeader::measurement_time and the
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// feature data \c SensorDetectionHeader::measurement_time fields.
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//
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optional Timestamp last_measurement_time = 9;
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// General information about the \c DetectedStationaryObject .
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//
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optional DetectedEntityHeader stationary_object_header = 10;
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// The list of stationary objects (e.g. landmarks) detected by the sensor.
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//
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repeated DetectedStationaryObject stationary_object = 11;
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// General information about the \c DetectedMovingObject .
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//
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optional DetectedEntityHeader moving_object_header = 12;
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// The list of moving objects detected by the sensor as perceived by
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// the sensor.
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//
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// \note OSI uses singular instead of plural for repeated field names.
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//
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repeated DetectedMovingObject moving_object = 13;
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// General information about the \c DetectedTrafficSign .
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//
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optional DetectedEntityHeader traffic_sign_header = 14;
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// The list of traffic signs detected by the sensor.
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//
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// \note OSI uses singular instead of plural for repeated field names.
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//
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repeated DetectedTrafficSign traffic_sign = 15;
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// General information about the \c DetectedTrafficLight .
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//
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optional DetectedEntityHeader traffic_light_header = 16;
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// The list of traffic lights detected by the sensor.
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//
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// \note OSI uses singular instead of plural for repeated field names.
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//
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repeated DetectedTrafficLight traffic_light = 17;
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// General information about the \c DetectedRoadMarking .
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//
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optional DetectedEntityHeader road_marking_header = 18;
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// The list of road markings detected by the sensor.
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// This excludes lane boundary markings.
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//
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// \note OSI uses singular instead of plural for repeated field names.
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//
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repeated DetectedRoadMarking road_marking = 19;
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// General information about the \c DetectedLaneBoundary .
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//
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optional DetectedEntityHeader lane_boundary_header = 20;
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// The list of lane boundary markings detected by the sensor.
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//
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// \note OSI uses singular instead of plural for repeated field names.
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//
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repeated DetectedLaneBoundary lane_boundary = 21;
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// General information about the \c DetectedLane .
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//
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optional DetectedEntityHeader lane_header = 22;
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// The list of lanes detected by the sensor
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//
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// \note OSI uses singular instead of plural for repeated field names.
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//
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repeated DetectedLane lane = 23;
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// General information about the \c DetectedOccupant .
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//
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optional DetectedEntityHeader occupant_header = 24;
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// The list of occupants of the host vehicle
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//
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// \note OSI uses singular instead of plural for repeated field names.
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//
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repeated DetectedOccupant occupant = 25;
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// Low level feature data interface.
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//
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// Low Level feature data is optionally provided by sensor models that
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// model sensors giving access to this low level data, i.e. data prior to
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// object hypothesis and tracking.
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//
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optional FeatureData feature_data = 26;
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<<<<<<< HEAD
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// Logical detection data interface.
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//
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// Logical detection data are provided by a transformation
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// (and optional sensor fusion)
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// performed by a sensor model or a logical model
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// that fuses multiple sensors and/or sensor types
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// into a single reference frame
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// of the so called logical/virtual sensor.
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// Therefore, all information is given with respect to
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// the reference frame of the logical/virtual sensor
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// \c SensorView::mounting_position (e.g. center of rear axle of the ego car)
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// in cartesian coordinates.
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//
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optional LogicalDetectionData logical_detection_data = 27;
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=======
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// Host vehicle data measured by the sensors.
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//
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optional HostVehicleData host_vehicle = 27;
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>>>>>>> Add HostVehicleData to SensorData #480
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}

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