Add new LogicalDetectionData message to SensorData

CMakeLists.txt

@@ -74,6 +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

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_logicaldetectiondata.proto

@@ -0,0 +1,231 @@
+syntax = "proto2";
+
+option optimize_for = SPEED;
+
+import "osi_version.proto";
+import "osi_common.proto";
+
+package osi3;
+
+//
+// \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;
+
+    // Header attributes of fused detections from multiple sensors and sensor types.
+    //
+    optional LogicalDetectionDataHeader header = 2;
+
+    // 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;
+}
+
+//
+// \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;
+
+    // Data Qualifier expresses to what extent the content of this event can be
+    // relied on.
+    //
+    optional DataQualifier data_qualifier = 2;
+
+    // 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;
+
+    // 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;
+
+    // Data qualifier communicates the overall availability of the
+    // interface.
+    //
+    enum DataQualifier
+    {
+        // Unknown (must not be used in ground truth).
+        //
+        DATA_QUALIFIER_UNKNOWN = 0;
+
+        // Other (unspecified but known).
+        //
+        DATA_QUALIFIER_OTHER = 1;
+
+        // Data is available.
+        //
+        DATA_QUALIFIER_AVAILABLE = 2;
+
+        // Reduced data is available.
+        //
+        DATA_QUALIFIER_AVAILABLE_REDUCED = 3;
+
+        // Data is not available.
+        //
+        DATA_QUALIFIER_NOT_AVAILABLE = 4;
+
+        // Sensor is blind.
+        //
+        DATA_QUALIFIER_BLINDNESS = 5;
+
+        // Sensor temporary available.
+        //
+        DATA_QUALIFIER_TEMPORARY_AVAILABLE = 6;
+
+        // Sensor invalid.
+        //
+        DATA_QUALIFIER_INVALID = 7;
+    }
+}
+
+//
+// \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;
+
+    // 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;
+
+    // Measured position of the logical detection given in cartesian coordinates in the
+    // host vehicle coordinate system.
+    //
+    // Unit: m
+    //
+    optional Vector3d position = 3;
+
+    // Root mean squared error of the measured position of the logical detection.
+    //
+    optional Vector3d position_rmse = 4;
+
+    // Velocity of the logical detection given in cartesian coordinates in the
+    // host vehicle coordinate system.
+    //
+    // Unit: m/s
+    //
+    optional Vector3d velocity = 5;
+
+    // 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;
+
+    // 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;
+
+    // The signal to noise ratio (SNR) of the logical detection.
+    //
+    // Unit: dB
+    //
+    optional double snr = 8;
+
+    // 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;
+
+    // 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;
+
+    // Basic classification of the logical detection.
+    //
+    optional LogicalDetectionClassification classification = 11;
+}
+
+// Definition of basic logical detection classifications.
+//
+enum LogicalDetectionClassification
+{
+    // Logical detection is unknown (must not be used in ground truth).
+    //
+    LOGICAL_DETECTION_CLASSIFICATION_UNKNOWN = 0;
+
+    // Other (unspecified but known) logical detection.
+    //
+    LOGICAL_DETECTION_CLASSIFICATION_OTHER = 1;
+
+    // Invalid logical detection, not to be used for object tracking, of unspecified
+    // type (none of the other types applies).
+    //
+    LOGICAL_DETECTION_CLASSIFICATION_INVALID = 2;
+
+    // Clutter (noise, spray, rain, fog etc.).
+    //
+    LOGICAL_DETECTION_CLASSIFICATION_CLUTTER = 3;
+
+    // Over-drivable (ground etc.).
+    //
+    LOGICAL_DETECTION_CLASSIFICATION_OVERDRIVABLE = 4;
+
+    // Under-drivable (sign gantry etc.).
+    //
+    LOGICAL_DETECTION_CLASSIFICATION_UNDERDRIVABLE = 5;
+}

osi_sensordata.proto

@@ -12,6 +12,7 @@ import "osi_detectedobject.proto";
 import "osi_detectedoccupant.proto";
 import "osi_sensorview.proto";
 import "osi_featuredata.proto";
+import "osi_logicaldetectiondata.proto";
 
 package osi3;
 
@@ -92,7 +93,7 @@ message DetectedEntityHeader
 //
 // Sensor fusion models can consolidate multiple \c SensorData interfaces into
 // one consolidated \c SensorData interface.  This can happen either in
-// seperate logical models, consuming and producing \c SensorData interfaces,
+// separate logical models, consuming and producing \c SensorData interfaces,
 // or it can happen as part of a combined sensor/logical model, that consumes
 // \c SensorView interfaces and directly produces one consolidated \c SensorData
 // output.
@@ -297,4 +298,19 @@ message SensorData
     // object hypothesis and tracking.
     //
     optional FeatureData feature_data = 26;
+
+    // Logical detection data interface.
+    //
+    // Logical detection data are provided by a transformation
+    // (and optional sensor fusion)
+    // performed by a sensor model or a logical model
+    // that fuses multiple sensors and/or sensor types
+    // into a single reference frame
+    // of the so called logical/virtual sensor.
+    // Therefore, 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.
+    //
+    optional LogicalDetectionData logical_detection_data = 27;
 }

setup.py

@@ -63,6 +63,7 @@ def find_protoc():
         'osi_trafficcommand.proto',
         'osi_roadmarking.proto',
         'osi_featuredata.proto',
+        'osi_logicaldetectiondata.proto',
         'osi_object.proto',
         'osi_occupant.proto',
         'osi_lane.proto',