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Add new LogicalDetectionData message to SensorData #440
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syntax = "proto2"; | ||
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option optimize_for = SPEED; | ||
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import "osi_version.proto"; | ||
import "osi_common.proto"; | ||
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package osi3; | ||
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// | ||
// \brief Processed data from one or multiple sensors as a list of logical detections. | ||
// Logical detections are derived from sensor detections in a logical model through processing steps like fusion filtering, tracking etc. | ||
// | ||
// All information is given with respect to the reference frame of the logical/virtual sensor | ||
// \c SensorView::mounting_position (e.g. center of rear axle of the ego car) in Cartesian coordinates. | ||
// | ||
message LogicalDetectionData | ||
{ | ||
// The interface version used by the sender (i.e. the simulation | ||
// environment). | ||
// | ||
optional InterfaceVersion version = 1; | ||
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// Header attributes of fused detections from multiple sensors and sensor types. | ||
// | ||
optional LogicalDetectionDataHeader header = 2; | ||
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// logical detections consisting of transformed (and potentially fused) detections from one or multiple sensors and sensor types. | ||
// Logical detections are given with respect to the reference frame of the logical/virtual sensor | ||
// \c SensorView::mounting_position (e.g. center of rear axle of the ego car) | ||
// | ||
// \note OSI uses singular instead of plural for repeated field names. | ||
// | ||
repeated LogicalDetection logical_detection = 3; | ||
} | ||
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// | ||
// \brief The header attributes of each sensor's logical detections list. | ||
// | ||
message LogicalDetectionDataHeader | ||
{ | ||
// Time stamp at which the transformation and optional fusion was finished in the global synchronized time. | ||
// | ||
// \note See \c SensorData::timestamp and | ||
// \c SensorData::last_measurement_time for detailed discussions on the | ||
// semantics of time-related fields. | ||
// | ||
optional Timestamp logical_detection_time = 1; | ||
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// Data Qualifier expresses to what extent the content of this event can be | ||
// relied on. | ||
// | ||
optional DataQualifier data_qualifier = 2; | ||
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// The current number of valid detections in the logical detections list. | ||
// | ||
// \note This value has to be set if the list contains invalid logical detections. | ||
// | ||
// \rules | ||
// is_greater_than_or_equal_to: 0 | ||
// \endrules | ||
// | ||
optional uint32 number_of_valid_logical_detections = 3; | ||
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// The ID(s) of the sensor(s) that produced the detections for transformation | ||
// and - in case of multiple sensors - fusion into logical detections. | ||
// | ||
repeated Identifier sensor_id = 4; | ||
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// Data qualifier communicates the overall availability of the | ||
// interface. | ||
// | ||
enum DataQualifier | ||
{ | ||
// Unknown (must not be used in ground truth). | ||
// | ||
DATA_QUALIFIER_UNKNOWN = 0; | ||
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// Other (unspecified but known). | ||
// | ||
DATA_QUALIFIER_OTHER = 1; | ||
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// Data is available. | ||
// | ||
DATA_QUALIFIER_AVAILABLE = 2; | ||
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// Reduced data is available. | ||
// | ||
DATA_QUALIFIER_AVAILABLE_REDUCED = 3; | ||
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// Data is not available. | ||
// | ||
DATA_QUALIFIER_NOT_AVAILABLE = 4; | ||
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// Sensor is blind. | ||
// | ||
DATA_QUALIFIER_BLINDNESS = 5; | ||
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// Sensor temporary available. | ||
// | ||
DATA_QUALIFIER_TEMPORARY_AVAILABLE = 6; | ||
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// Sensor invalid. | ||
// | ||
DATA_QUALIFIER_INVALID = 7; | ||
} | ||
} | ||
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// | ||
// \brief A logical detection that could be based on multiple sensors and sensor types. | ||
// | ||
message LogicalDetection | ||
{ | ||
// Existence probability of the logical detection | ||
// | ||
// \note Use as confidence measure where a low value means less confidence | ||
// and a high value indicates strong confidence. | ||
// | ||
// \rules | ||
// is_greater_than_or_equal_to: 0 | ||
// is_less_than_or_equal_to: 1 | ||
// \endrules | ||
// | ||
optional double existence_probability = 1; | ||
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// ID of the detected object this logical detection is associated to. | ||
// | ||
// \note ID = MAX(uint64) indicates no reference to an object. | ||
// | ||
// \rules | ||
// refers_to: DetectedObject | ||
// \endrules | ||
// | ||
optional Identifier object_id = 2; | ||
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// Measured position of the logical detection given in cartesian coordinates in the | ||
// host vehicle coordinate system. | ||
// | ||
// Unit: m | ||
// | ||
optional Vector3d position = 3; | ||
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// Root mean squared error of the measured position of the logical detection. | ||
// | ||
optional Vector3d position_rmse = 4; | ||
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// Velocity of the logical detection given in cartesian coordinates in the | ||
// host vehicle coordinate system. | ||
// | ||
// Unit: m/s | ||
// | ||
optional Vector3d velocity = 5; | ||
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// Root mean squared error of the logical detection's velocity. | ||
// | ||
// Unit: m/s | ||
// | ||
// \rules | ||
// is_greater_than_or_equal_to: 0 | ||
// \endrules | ||
// | ||
optional Vector3d velocity_rmse = 6; | ||
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// Intensity or equivalent value of the logical detection's echo. | ||
// | ||
// Unit: % | ||
// | ||
// \rules | ||
// is_greater_than_or_equal_to: 0 | ||
// is_less_than_or_equal_to: 100 | ||
// \endrules | ||
// | ||
optional double intensity = 7; | ||
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// The signal to noise ratio (SNR) of the logical detection. | ||
// | ||
// Unit: dB | ||
// | ||
optional double snr = 8; | ||
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// Describes the possibility whether more than one object may have led to | ||
// this logical detection. | ||
// | ||
// \rules | ||
// is_greater_than_or_equal_to: 0 | ||
// is_less_than_or_equal_to: 1 | ||
// \endrules | ||
// | ||
optional double point_target_probability = 9; | ||
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// The ID(s) of the sensor(s) that produced the detection(s) for transformation | ||
// and - in case of multiple sensors - fusion into the single logical detection. | ||
// | ||
// \note One logical detection can originate from multiple sensors. | ||
// | ||
repeated Identifier sensor_id = 10; | ||
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// Basic classification of the logical detection. | ||
// | ||
optional LogicalDetectionClassification classification = 11; | ||
} | ||
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// Definition of basic logical detection classifications. | ||
// | ||
enum LogicalDetectionClassification | ||
{ | ||
// Logical detection is unknown (must not be used in ground truth). | ||
// | ||
LOGICAL_DETECTION_CLASSIFICATION_UNKNOWN = 0; | ||
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// Other (unspecified but known) logical detection. | ||
// | ||
LOGICAL_DETECTION_CLASSIFICATION_OTHER = 1; | ||
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// Invalid logical detection, not to be used for object tracking, of unspecified | ||
// type (none of the other types applies). | ||
// | ||
LOGICAL_DETECTION_CLASSIFICATION_INVALID = 2; | ||
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// Clutter (noise, spray, rain, fog etc.). | ||
// | ||
LOGICAL_DETECTION_CLASSIFICATION_CLUTTER = 3; | ||
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// Over-drivable (ground etc.). | ||
// | ||
LOGICAL_DETECTION_CLASSIFICATION_OVERDRIVABLE = 4; | ||
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// Under-drivable (sign gantry etc.). | ||
// | ||
LOGICAL_DETECTION_CLASSIFICATION_UNDERDRIVABLE = 5; | ||
} |
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