689 add raytracerview config

osi_common.proto

@@ -632,7 +632,7 @@ message WavelengthData
 // \brief Definition of a spatial signal strength distribution
 // for an emitting / transmitting / receiving entity
 // with a horizontal and a vertical angle
-// and the corresponding signal strength in dBm (decibels per milliwatt).
+// and the corresponding signal strength in dBm.
 //
 message SpatialSignalStrength
 {
@@ -650,18 +650,19 @@ message SpatialSignalStrength
     //
     optional double vertical_angle = 2;
 
-    // Emitted / transmitted /received signal strength
-    // of the emitting / transmitting / receiving entity
+    // Emitted / transmitted / received signal gain
+    // of the respective entity
     // at the previously defined horizontal and
     // vertical angle for one specific wavelength.
     // The value for the signal strength
-    // is given in dBm (decibels per milliwatt).
+    // is given in dBm.
     //
     // Unit: dBm
     //
-    optional double signal_strength = 3;
+    repeated double signal_strength = 3;
 }
 
+
 //
 // \brief The description of a color within available color spaces.
 //
@@ -951,3 +952,37 @@ message KeyValuePair
     //
     optional string value = 2;
 }
+
+//
+// \brief Definition of a spatial signal gain distribution
+// for an emitting / transmitting / receiving entity
+// with a horizontal and a vertical angle
+// and the corresponding signal gain in dB.
+//
+message SpatialSignalGain
+{
+    // Horizontal angle (azimuth) of emission / transmission / reception
+    // in the entity's coordinate system.
+    //
+    // Unit: rad
+    //
+    optional double horizontal_angle = 1;
+
+    // Vertical angle (elevation) of emission / transmission / reception
+    // in the entity's coordinate system.
+    //
+    // Unit: rad
+    //
+    optional double vertical_angle = 2;
+
+    // Emitted / transmitted / received signal gain
+    // of the respective entity
+    // at the previously defined horizontal and
+    // vertical angle for one specific wavelength.
+    // The value for the signal gain
+    // is given in dB.
+    //
+    // Unit: dB
+    //
+    repeated double signal_gain = 3;
+}

osi_sensorview.proto

@@ -148,6 +148,10 @@ message SensorView
     // Ultrasonic-specific SensorView(s).
     //
     repeated UltrasonicSensorView ultrasonic_sensor_view = 1004;
+
+    // Raytracer-specific View(s).
+    //
+    repeated RaytracerView raytarcer_view = 1005;
 }
 
 //
@@ -173,63 +177,53 @@ message RadarSensorView
     //
     optional RadarSensorViewConfiguration view_configuration = 1;
 
-    // Ray tracing data.
+    // Received signal.
+    //
+    // This field includes the returned signal in the scene, that is backscattered to the sensor.
     //
-    // This field includes one entry for each ray, in left-to-right,
-    // top-to-bottom order (think of scan lines in a TV).
+    // \note OSI uses singular instead of plural for repeated field names.
     //
-    repeated Reflection reflection = 2;
+    repeated ReceivedSignalElement received_signal_element = 2;
 
     //
-    // \brief Definition of the radar reflection.
+    // \brief Definition of the result of a e.g. rendering algorithm, which simulates the
+    // propagation of signal in a virtual scene. 
     //
-    message Reflection
+    message ReceivedSignalElement
     {
-        // Relative signal level of the reflection.
+        // Received spatial element.
         //
-        // This takes the combined antenna diagram (losses in TX and RX)
-        // as well as the signal losses due to scattering and absorption
-        // into account, and will, when multiplied by TX power yield the
-        // actual RX power.
+        // This describes the incoming direction and signal strength in dB
+        // of the signal return from the simulated scene.
+        // The signal can be received from a different angle than it has been emitted to.
         //
-        // Unit: dB
+        // \note Data is in sensor coordinate system.
         //
-        optional double signal_strength = 1;
-
+        optional SpatialSignalGain spatial_signal_gain = 1;
+        
         // Time of flight.
         //
-        // This is the time of flight of the reflection, which is directly
-        // proportional to the distance traveled.
+        // This is the time needed by the signal from emission to reception.
         //
         // Unit: s
         //
         optional double time_of_flight = 2;
 
-        // Doppler shift.
+        // Doppler shift
         //
         // Shift in frequency based on the specified TX frequency.
         //
         // Unit: Hz
         //
         optional double doppler_shift = 3;
 
-        // TX horizontal angle (azimuth).
-        //
-        // Horizontal angle of incidence of the source of the reflection
-        // at the TX antenna.
-        //
-        // Unit: rad
-        //
-        optional double source_horizontal_angle = 4;
-
-        // TX vertical angle (elevation).
-        //
-        // Vertical angle of incidence of the source of the reflection
-        // at the TX antenna.
+        // The phase of the spatial_signal_gain at the sensor.
         //
+        // The phase_size() has to be equal to the spatial_signal_gain.signal_gain_size().
+        // 
         // Unit: rad
         //
-        optional double source_vertical_angle = 5;
+        optional double phase = 4;
     }
 }
 
@@ -244,60 +238,63 @@ message LidarSensorView
     //
     optional LidarSensorViewConfiguration view_configuration = 1;
 
-    // Ray tracing data.
+    // Received signal element.
+    //
+    // This field includes one element of the returned signal in the scene, which is backscattered to the sensor.
     //
-    // This field includes one entry for each ray, in left-to-right,
-    // top-to-bottom order (think of scan lines in a TV).
+    // \note Due to e.g. super-sampling or diffuse reflections, a single emitted lidar beam can yield multiple signal returns.
+    // \note OSI uses singular instead of plural for repeated field names.
     //
-    repeated Reflection reflection = 2;
+    repeated ReceivedSignalElement received_signal_element = 2;
 
     //
-    // \brief Definition of the lidar reflection.
+    // \brief Definition of the result of a lidar rendering algorithm.
     //
-    message Reflection
+    message ReceivedSignalElement
     {
-        // Relative signal level of the reflection.
+        // Received spatial signal gain.
         //
-        // This takes the signal losses due to scattering and absorption
-        // into account, and will, when multiplied by TX power yield the
-        // potential RX power (disregarding any other RX/TX losses).
+        // This describes the incoming direction and signal gain
+        // from the simulated scene.
         //
-        // Unit: dB
+        // The signal can be received from a different angle than it has been emitted to.
         //
-        optional double signal_strength = 1;
+        // \note Data is in sensor coordinate system.
+        //
+        optional SpatialSignalGain spatial_signal_gain = 1;
 
         // Time of flight.
         //
-        // This is the time of flight of the reflection, which is directly
-        // proportional to the distance traveled.
+        // This is the time needed by the signal from emission to reception.
         //
         // Unit: s
         //
         optional double time_of_flight = 2;
 
-        // Doppler shift.
+        // Doppler shift
         //
-        // Shift in frequency based on the specified TX frequency.
+        // Shift in frequency based on the emitted frequency.
         //
         // Unit: Hz
         //
         optional double doppler_shift = 3;
 
-        // normal to surface angle.
+        // The phase of the spatial_signal_gain at the sensor.
         //
-        // The normal of the transmitted beam to the object, roadmarking etc
-        // encounter. \note data is in Lidar coordinate system
-        //
-        // Unit: unit vector
+        // The phase_size() has to be equal to the spatial_signal_gain.signal_gain_size().
+        // 
+        // Unit: rad
         //
-        optional Vector3d normal_to_surface = 5;
+        optional double phase = 4;
 
-        // ID of the detected object this reflection is associated to.
-        // can be used for raytracing debug
+        // Zero-based index of the emitted lidar beam as configured in
+        // LidarSensorViewConfiguration.
         //
-        // \note ID = MAX(uint64) indicates no reference to an object.
-        optional Identifier object_id = 6;
+        // Unit: -
+        //
+        optional uint32 emitted_beam_id = 5;
     }
+
 }
 
 //
@@ -330,3 +327,44 @@ message UltrasonicSensorView
     //
     optional UltrasonicSensorViewConfiguration view_configuration = 1;
 }
+
+//
+// \brief Definition of the raytracer view.
+//
+// Raytracer specific view data.
+//
+message RaytracerView
+{
+    // Raytracer view configuration valid at the time the data was created.
+    //
+    optional RaytracerViewConfiguration view_configuration = 1;
+
+    // Raw raytracer data.
+    //
+    // The raw raytracer data in the memory layout and order specified by the
+    // raytracer input configuration.
+    //
+    optional bytes raytarcer_data = 2;
+
+    // Device type defines the device where the data is located.
+    //
+    optional DeviceType device_type = 3;
+
+    // Enum consits of different predefined device types.
+    // 
+    enum DeviceType
+    {
+        // Type of device type is unknown (must not be used).
+        //
+        DEVICE_TYPE_UNKNOWN = 0;
+
+        // The data is located on the GPU.
+        //
+        DEVICE_TYPE_GPU = 1;
+
+        // The data is located on the CPU.
+        //
+        DEVICE_TYPE_CPU = 2;
+
+    }
+}