Merge branch 'master' of https://github.com/OpenSimulationInterface/open-simulation-interface into 455-introducing-emitting-objects

Author: LukasElster

.github/pull_request_template.md

@@ -1,4 +1,4 @@
-#### Reference to a related issue in the repository
+#### Reference to a related issue in the repository
 Add a reference to a related issue in the repository.
 
 #### Add a description
@@ -10,14 +10,13 @@ What does it fix?
 Is this a bug fix or a feature? Does it break any existing functionality or force me to update to a new version?
 How has it been tested?
 
-#### Mention a member
-Add @mentions of the person or team responsible for reviewing proposed changes.
+#### Take this checklist as orientation for yourself, if this PR is ready for the Change Control Board:
+- [ ] My suggestion follows the [style and contributors guidelines](https://opensimulationinterface.github.io/osi-documentation/open-simulation-interface/doc/howtocontribute.html).
+- [ ] I have taken care about the [documentation](https://opensimulationinterface.github.io/osi-documentation/open-simulation-interface/doc/commenting.html).
+- [ ] I have done the [DCO signoff](https://opensimulationinterface.github.io/osi-documentation/open-simulation-interface/doc/howtocontribute.html#developer-certification-of-origin-dco).
+- [ ] My changes generate no errors when passing CI tests. 
+- [ ] I have successfully implemented and tested my fix/feature locally.
+- [ ] Appropriate reviewer(s) are assigned.
 
-#### Check the checklist
-
-- [ ] My code and comments follow the [style guidelines](https://opensimulationinterface.github.io/osi-documentation/osi/commenting.html) and [contributors guidelines](https://opensimulationinterface.github.io/osi-documentation/osi/howtocontribute.html) of this project.
-- [ ] I have performed a self-review of my own code.
-- [ ] I have made corresponding changes to the [documentation](https://github.com/OpenSimulationInterface/osi-documentation).
-- [ ] My changes generate no new warnings.
-- [ ] I have added tests that prove my fix is effective or that my feature works.
-- [ ] New and existing unit tests / travis ci pass locally with my changes.
+If you can’t check all of them, please explain why.
+If all boxes are checked or commented and you have achieved at least one positive review, you can assign the label ReadyForCCBReview!

.gitignore

@@ -35,3 +35,4 @@ githooks/pre-commit
 
 # PyCharm specific files
 .idea
+.vscode/settings.json

CMakeLists.txt

@@ -2,6 +2,9 @@ cmake_minimum_required(VERSION 3.5)
 
 project(open_simulation_interface)
 
+# set default compiler
+set(CMAKE_CXX_STANDARD 11)
+
 # Set a default build type if none was specified
 set(default_build_type "Release")
 if(EXISTS "${CMAKE_SOURCE_DIR}/.git")
@@ -71,6 +74,7 @@ set(OSI_PROTO_FILES
     osi_roadmarking.proto
     osi_lane.proto
     osi_featuredata.proto
+    osi_logicaldetectiondata.proto
     osi_object.proto
     osi_occupant.proto
     osi_sensordata.proto

README.md

@@ -15,67 +15,74 @@ For more information on OSI see the [official documentation](https://opensimulat
 [1] Hanke, T., Hirsenkorn, N., van-Driesten, C., Garcia-Ramos, P., Schiementz, M., Schneider, S. & Biebl, E. (2017, February 03). *A generic interface for the environment perception of automated driving functions in virtual scenarios.* Retrieved January 25, 2020, from https://www.hot.ei.tum.de/forschung/automotive-veroeffentlichungen/ 
 
 ## Usage
-##### Example of writing and reading an OSI message in `Python`
+##### Example of generating OSI messages in `Python`
 ```python
+# generate_osi_messages.py
 from osi3.osi_sensorview_pb2 import SensorView
-from osi3.osi_sensordata_pb2 import SensorData
+import struct
+
+NANO_INCREMENT = 10000000
+MOVING_OBJECT_LENGTH = 5
+MOVING_OBJECT_WIDTH = 2
+MOVING_OBJECT_HEIGHT = 1
 
 def main():
-    """Initialize SensorView and SensorData"""
+    """Initialize SensorView"""
+    f = open("sv_330_361_1000_movingobject.osi", "ab")
     sensorview = SensorView()
-    sensordata = SensorData()
-
-    """Clear SensorData"""
-    sensordata.Clear()
 
-    """Get boundary line attributes from SensorView"""
     sv_ground_truth = sensorview.global_ground_truth
-    sv_lane_boundary = sv_ground_truth.lane_boundary.add()
-    sv_boundary_line = sv_lane_boundary.boundary_line.add()
-    sv_boundary_line.position.x = 1699.20
-    sv_boundary_line.position.y = 100.16
-    sv_boundary_line.position.z = 0.0
-    sv_boundary_line.width = 0.13
-    sv_boundary_line.height = 0.0
-
-    """Set boundary line attributes to SensorData"""
-    sd_lane_boundary = sensordata.lane_boundary.add()
-    sd_boundary_line = sd_lane_boundary.boundary_line.add()
-    sd_boundary_line.position.x = sv_boundary_line.position.x
-    sd_boundary_line.position.y = sv_boundary_line.position.y
-    sd_boundary_line.position.z = sv_boundary_line.position.z
-    sd_boundary_line.width = sv_boundary_line.width
-    sd_boundary_line.height = sv_boundary_line.height
-
-    """Serialize SensorData which can be send"""
-    string_buffer = sensordata.SerializeToString()
-
-    """Clear SensorData to show parsing from string"""
-    sensordata.Clear()
-
-    """The received string buffer can now be parsed"""
-    sensordata.ParseFromString(string_buffer)
-
-    """Print SensorData"""
-    print(sensordata)
+    sv_ground_truth.version.version_major = 3
+    sv_ground_truth.version.version_minor = 3
+    sv_ground_truth.version.version_patch = 0
+
+    sv_ground_truth.timestamp.seconds = 0
+    sv_ground_truth.timestamp.nanos = 0
+
+    moving_object = sv_ground_truth.moving_object.add()
+    moving_object.id.value = 42
+
+    # Generate 1000 OSI messages for a duration of 10 seconds    
+    for i in range(1000):
+
+        # Increment the time
+        if sv_ground_truth.timestamp.nanos > 1000000000:
+            sv_ground_truth.timestamp.seconds += 1
+            sv_ground_truth.timestamp.nanos = 0
+        sv_ground_truth.timestamp.nanos += NANO_INCREMENT
+
+        moving_object.vehicle_classification.type = 2
+
+        moving_object.base.dimension.length = MOVING_OBJECT_LENGTH
+        moving_object.base.dimension.width = MOVING_OBJECT_WIDTH
+        moving_object.base.dimension.height = MOVING_OBJECT_HEIGHT
+
+        moving_object.base.position.x += 0.5
+        moving_object.base.position.y = 0.0
+        moving_object.base.position.z = 0.0
+
+        moving_object.base.orientation.roll = 0.0
+        moving_object.base.orientation.pitch = 0.0
+        moving_object.base.orientation.yaw = 0.0
+
+        """Serialize"""
+        bytes_buffer = sensorview.SerializeToString()
+        f.write(struct.pack("<L", len(bytes_buffer)))
+        f.write(bytes_buffer)
+
+    f.close()
 
 if __name__ == "__main__":
     main()
 ```
-**Output**:
+
+To run the script execute the following command in the terminal:
 ```bash
-lane_boundary {
-  boundary_line {
-    position {
-      x: 1699.2
-      y: 100.16
-      z: 0.0
-    }
-    width: 0.13
-    height: 0.0
-  }
-}
+python3 generate_osi_messages.py
 ```
+
+This will output an osi file (`sv_330_361_1000_movingobject.osi`) which can be visualized and played back by the [osi-visualizer](https://github.com/OpenSimulationInterface/osi-visualizer).
+
 See Google's documentation for more tutorials on how to use protocol buffers with [Python](https://developers.google.com/protocol-buffers/docs/pythontutorial) or [C++](https://developers.google.com/protocol-buffers/docs/cpptutorial).
 ## Installation
 ##### Dependencies

doc/osifiles.rst

@@ -56,6 +56,9 @@ OSI common provides the building blocks for the OSI field messages.
 `osi_featuredata.proto`_
 ---------------------------------
 
+`osi_logicaldetectiondata.proto`_
+---------------------------------
+
 `osi_object.proto`_
 ---------------------------------
 

osi_common.proto

@@ -491,3 +491,30 @@ message StatePoint
     //
     optional Orientation3d orientation = 3;
 }
+//
+// \brief Detailed WavelengthRange message.
+//
+// Defines the start (minimum) and the end (maximum) values of the wavelength.
+// Additionally, the number of samples within this range is defined in this message.
+//
+message WavelengthData
+{
+    // The start, or the minimum wavelength value.
+    //
+    // Unit: m
+    //
+    optional double start = 1;
+
+    // The end, or the maximum wavelength value.
+    //
+    // Unit: m
+    //
+    optional double end = 2;
+
+    // Number of samples to be considered within the defined wavelength range.
+    // The number of samples includes the start and the end values that are defined in this message, starting from the "start" value.
+    // \note This defines the number of wavelengths to be computed during simulation, not to be confused with samples_per_pixel.
+    //
+    optional double samples_number = 3;
+}
+

osi_detectedobject.proto

@@ -159,6 +159,8 @@ message DetectedMovingObject
     //
     // \note The bounding box does NOT includes mirrors for vehicles.
     // \note The parent frame of \c base is the sensor's vehicle frame.
+    // \note The height includes the ground_clearance. It always goes from the
+    // top to the ground.
     //
     optional BaseMoving base = 2;
 
@@ -188,6 +190,9 @@ message DetectedMovingObject
     //
     // Percentage value of the object width in the corresponding lane.
     //
+    // \note DEPRECATED: Use assigned_lane_percentage in MovingObjectClassification
+    // instead.
+    //
     // \rules
     // is_greater_than_or_equal_to: 0
     // is_less_than_or_equal_to: 100
@@ -199,6 +204,9 @@ message DetectedMovingObject
     //
     // Percentage value of the object width in the corresponding lane.
     //
+    // \note DEPRECATED: Use assigned_lane_percentage in MovingObjectClassification
+    // instead.
+    //
     // \rules
     // is_greater_than_or_equal_to: 0
     // is_less_than_or_equal_to: 100
@@ -307,6 +315,10 @@ message DetectedMovingObject
         // [1] Patton, K. T. & Thibodeau, G. A. (2015). <em>Anatomy & Physiology</em>. 9th Edition. Elsevier. Missouri, U.S.A. ISBN 978-0-323-34139-4. p. 1229.
         //
         optional Orientation3d upper_body_pose = 5;
+
+        // Specific information about the classification of a moving object.
+        //
+        optional MovingObject.MovingObjectClassification moving_object_classification = 6;        
     }
 
     // Definition of available reference points. Left/middle/right and