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Add new LogicalDetectionData message to SensorData #440
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| Original file line number | Diff line number | Diff line change |
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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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