Field order always radar, lidar, camera, uss

Author: carsten-kuebler

osi_featuredata.proto

@@ -24,17 +24,17 @@ message FeatureData
     //
     optional InterfaceVersion version = 1;
 
-    // Lidar detections for multiple lidar sensors (sensor fusion).
+    // Radar detections for multiple radar sensors (sensor fusion).
     //
     // \note OSI uses singular instead of plural for repeated field names.
     //
-    repeated LidarDetectionData lidar_sensor = 2;
+    repeated RadarDetectionData radar_sensor = 2;
 
-    // Radar detections for multiple radar sensors (sensor fusion).
+    // Lidar detections for multiple lidar sensors (sensor fusion).
     //
     // \note OSI uses singular instead of plural for repeated field names.
     //
-    repeated RadarDetectionData radar_sensor = 3;
+    repeated LidarDetectionData lidar_sensor = 3;
 }
 
 //
@@ -148,30 +148,30 @@ message SensorDetectionHeader
 }
 
 //
-// \brief Data from one lidar sensor including a list of detections.
+// \brief Data from one radar sensor including a list of detections.
 //
-message LidarDetectionData
+message RadarDetectionData
 {
-    // Header attributes of lidar detection from one lidar sensor.
+    // Header attributes of radar detection from one radar sensor.
     //
     optional SensorDetectionHeader header = 1;
 
-    // List of lidar detections.
+    // List of radar detections constituting the radar detection list.
     //
     // \note OSI uses singular instead of plural for repeated field names.
     //
-    repeated LidarDetection detection = 2;
+    repeated RadarDetection detection = 2;
 }
 
 //
-// \brief A point or vertical line in a lidar point cloud.
+// \brief A radar detection.
 //
-message LidarDetection
+message RadarDetection
 {
     // Existence probability of the detection not based on history. Value does
     // not depend on any past experience with similar detections.
     //
-    // \note Used as confidence measure where a low value means less confidence
+    // \note Use as confidence measure where a low value means less confidence
     // and a high value indicates strong confidence.
     //
     optional double existence_probability = 1;
@@ -191,62 +191,73 @@ message LidarDetection
     //
     optional Spherical3d position_rmse = 4;
 
-    // Height value, which is required when multiple scan points are vertically
-    // clustered. Only vertical clustering is allowed (z-axis).
+    // Absolute radial (in direction to the sensor) velocity of the detection.
     //
-    // Unit: [m]
+    // Unit: [m/s]
     //
-    optional double height = 5;
+    optional double radial_velocity = 5;
 
-    // Root mean squared error of the object height.
+    // Root mean squared error of the object measured radial velocity.
     //
-    // Unit: [m]
+    // Unit: [m/s]
     //
-    optional double height_rmse = 6;
+    optional double radial_velocity_rmse = 6;
 
-    // Intensity or equivalent value of the detection's echo.
+    // The radar cross section (RCS) of the radar detection.
     //
-    // Unit: [%]
+    // Unit: [dB m^2]
     //
-    optional double intensity = 7;
+    optional double rcs = 7;
 
-    // The free space probability in the range [0.0, 1.0] from the origin of the
-    // sensor up to this detection, as given by the distance.
+    // The signal to noise ratio (SNR) of the radar detection.
     //
-    // Range: [0.0, 1.0]
+    // Unit: [dB m^2]
     //
-    optional double free_space_probability = 8;
+    optional double snr = 8;
+
+    // Describes the possibility whether more than one object may have led to
+    // this detection.
+    //
+    optional double point_target_probability = 9;
+
+    // Ambiguity Information:
+    // Each ambiguous measurement generates one Ambiguity ID. Ambiguity is
+    // indicated by an identical ambiguity ID.
+    //
+    // \note Unambiguous measurements have the ambiguity ID 0.
+    //
+    optional Identifier ambiguity_id = 10;
 
     // Basic classification of the detection.
     //
-    optional DetectionClassification classification = 9;
+    optional DetectionClassification classification = 11;
 }
 
 //
-// \brief Data from one radar sensor including a list of detections.
+// \brief Data from one lidar sensor including a list of detections.
 //
-message RadarDetectionData
+message LidarDetectionData
 {
-    // Header attributes of radar detection from one radar sensor.
+    // Header attributes of lidar detection from one lidar sensor.
     //
     optional SensorDetectionHeader header = 1;
 
-    // List of radar detections constituting the radar detection list.
+    // List of lidar detections.
     //
     // \note OSI uses singular instead of plural for repeated field names.
     //
-    repeated RadarDetection detection = 2;
+    repeated LidarDetection detection = 2;
 }
 
 //
-// \brief A radar detection.
+// \brief A point or vertical line in a lidar point cloud.
 //
-message RadarDetection
+message LidarDetection
 {
     // Existence probability of the detection not based on history. Value does
     // not depend on any past experience with similar detections.
     //
-    // \note Use as confidence measure where a low value means less confidence
+    // \note Used as confidence measure where a low value means less confidence
     // and a high value indicates strong confidence.
     //
     optional double existence_probability = 1;
@@ -266,46 +277,35 @@ message RadarDetection
     //
     optional Spherical3d position_rmse = 4;
 
-    // Absolute radial (in direction to the sensor) velocity of the detection.
-    //
-    // Unit: [m/s]
-    //
-    optional double radial_velocity = 5;
-
-    // Root mean squared error of the object measured radial velocity.
+    // Height value, which is required when multiple scan points are vertically
+    // clustered. Only vertical clustering is allowed (z-axis).
     //
-    // Unit: [m/s]
+    // Unit: [m]
     //
-    optional double radial_velocity_rmse = 6;
+    optional double height = 5;
 
-    // The radar cross section (RCS) of the radar detection.
+    // Root mean squared error of the object height.
     //
-    // Unit: [dB m^2]
+    // Unit: [m]
     //
-    optional double rcs = 7;
+    optional double height_rmse = 6;
 
-    // The signal to noise ratio (SNR) of the radar detection.
-    //
-    // Unit: [dB m^2]
+    // Intensity or equivalent value of the detection's echo.
     //
-    optional double snr = 8;
-
-    // Describes the possibility whether more than one object may have led to
-    // this detection.
+    // Unit: [%]
     //
-    optional double point_target_probability = 9;
+    optional double intensity = 7;
 
-    // Ambiguity Information:
-    // Each ambiguous measurement generates one Ambiguity ID. Ambiguity is
-    // indicated by an identical ambiguity ID.
+    // The free space probability in the range [0.0, 1.0] from the origin of the
+    // sensor up to this detection, as given by the distance.
     //
-    // \note Unambiguous measurements have the ambiguity ID 0.
+    // Range: [0.0, 1.0]
     //
-    optional Identifier ambiguity_id = 10;
+    optional double free_space_probability = 8;
 
     // Basic classification of the detection.
     //
-    optional DetectionClassification classification = 11;
+    optional DetectionClassification classification = 9;
 }
 
 //

osi_sensorviewconfiguration.proto

@@ -186,6 +186,7 @@ message SensorViewConfiguration
     // \note OSI uses singular instead of plural for repeated field names.
     //
     repeated GenericSensorViewConfiguration generic_sensor_view_configuration = 1000;
+    
     // Radar-specific SensorView Configuration(s).
     //
     // \note OSI uses singular instead of plural for repeated field names.