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Fix trace file player and trace file writer in pipeline (#27)
* Fix trace file player and trace file writer in pipeline Signed-off-by: ClemensLinnhoff <[email protected]> --------- Signed-off-by: ClemensLinnhoff <[email protected]>
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‎.github/workflows/build_tracefile_player.yml‎

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@@ -70,7 +70,7 @@ jobs:
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- name: Copy Tracefile FMU
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if: steps.cache-tracefile-player-fmu.outputs.cache-hit != 'true'
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working-directory: sl-5-5-osi-trace-file-player/build
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run: cp src/OSMPTraceFilePlayer.fmu /tmp/tracefile_player_fmu/OSMPTraceFilePlayer.fmu
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run: cp OSMPTraceFilePlayer.fmu /tmp/tracefile_player_fmu/OSMPTraceFilePlayer.fmu
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- name: Commit ID
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working-directory: /tmp/tracefile_player_fmu

‎README.md‎

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[![Credibility Assessment](../../actions/workflows/credibility_assessment.yml/badge.svg)](https://github.com/openMSL/sl-1-0-sensor-model-repository-template/actions/workflows/test_pipeline.yml)
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<img align="right" src="https://gitlab.com/tuda-fzd/perception-sensor-modeling/object-based-generic-perception-object-model/uploads/17c84e9ec0acf0fac2e35855f038ad0b/fzdlogo.jpg" width="100" />
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<img align="right" src="https://gitlab.com/tuda-fzd/perception-sensor-modeling/object-based-generic-perception-object-model/uploads/17c84e9ec0acf0fac2e35855f038ad0b/fzdlogo.jpg" alt="FZD" width="100" />
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This model is a highly parameterizable generic perception sensor and tracking model.
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It can be parameterized as a Lidar or a Radar.
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occlusion effects depending on the sensor technology as well as simulation of tracking behavior.
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The model output are object lists for OSI SenorData moving objects.
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<img src="doc/img/model_video.gif" width="800" />
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<img src="doc/img/model_video.gif" alt="Sensor Demo" width="800" />
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The architecture of the model as well as the parameterization structure are designed to be as generic as possible
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to fit both radar and lidar sensors to utilize similarities in signal propagation and signal processing in both technologies.
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The `apply()` function of the strategy is called by the `do_calc()` function of the Framework.
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The strategy itself is structured into four modules as shown in the image below.
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<img src="doc/img/model_overview.png" width="300" />
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<img src="doc/img/model_overview.png" alt="Model Overview" width="300" />
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### Sensor Technology Independent Modeling
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The figure below shows different examples of refined bounding boxes as a side-view. They can be further adapted by adding more vertices to enhance their fidelity,
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e.g. for the pillar positions, wheels, etc.
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<img src="doc/img/refined_bounding_boxes.png" width="300" />
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<img src="doc/img/refined_bounding_boxes.png" alt="Refined Bounding Boxes" width="300" />
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The bounding box shapes are selected depending on the ground truth object class and adjusted to the object's dimensions.
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Consequently, this approach reveals a gap in the OSI definition of vehicle classes.
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German Federal Ministry for Economic Affairs and Energy based on a decision of the German Bundestag.
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| SET Level | PEGASUS Family | BMWi |
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|----------------------------------------------------------------------------------------------------------|----------------------------------------------------------------------------------------------------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
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| <a href="https://setlevel.de"><img src="https://setlevel.de/assets/logo-setlevel.svg" width="100" /></a> | <a href="https://pegasus-family.de"><img src="https://setlevel.de/assets/logo-pegasus-family.svg" width="100" /></a> | <a href="https://www.bmwi.de/Redaktion/DE/Textsammlungen/Technologie/fahrzeug-und-systemtechnologien.html"><img src="https://setlevel.de/assets/logo-bmwi-en.svg" width="100" /></a> |
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| <a href="https://setlevel.de"><img src="https://setlevel.de/assets/logo-setlevel.svg" alt="SETLevel" width="100" /></a> | <a href="https://pegasus-family.de"><img src="https://setlevel.de/assets/logo-pegasus-family.svg" alt="Pegasus" width="100" /></a> | <a href="https://www.bmwi.de/Redaktion/DE/Textsammlungen/Technologie/fahrzeug-und-systemtechnologien.html"><img src="https://setlevel.de/assets/logo-bmwi-en.svg" alt="BMWi" width="100" /></a> |
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We would like to thank Yifei Jiao for his contribution to the first prototype.
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‎doc/build-instructions/install_protobuf_Win64_VS2017.md‎

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3. Open protobuf.sln located in build-dir from above with **Visual Studio 2017**
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4. Change Properties->C/C++->Code Generation of **all** solutions for Configuration *Release* AND *Debug*<br>
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- Runtime Library for *Release* must be set to "Multi-threaded DLL (/MD)":<br>
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<img src="https://gitlab.com/tuda-fzd/perception-sensor-modeling/reflection-based-lidar-object-model/uploads/38c646d7442362bbbbce936d67a26836/ASM_protobuf_runtime_library_release.png" width="800"><br><br>
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<img src="https://gitlab.com/tuda-fzd/perception-sensor-modeling/reflection-based-lidar-object-model/uploads/38c646d7442362bbbbce936d67a26836/ASM_protobuf_runtime_library_release.png" alt="Release" width="800"><br><br>
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- Runtime Library for *Debug* must be set to "Multi-threaded Debug DLL (/MDd)":<br>
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<img src="https://gitlab.com/tuda-fzd/perception-sensor-modeling/reflection-based-lidar-object-model/uploads/be2f9e3f0cda9da9bb4686805379b37e/ASM_protobuf_runtime_library_debug.png" width="800">
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<img src="https://gitlab.com/tuda-fzd/perception-sensor-modeling/reflection-based-lidar-object-model/uploads/be2f9e3f0cda9da9bb4686805379b37e/ASM_protobuf_runtime_library_debug.png" alt="Debug" width="800">
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5. Build Solution for *Release* AND for *Debug*
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6. Build INSTALL for *Release* AND for *Debug*

‎test/integration/003_regression_test_7/SystemStructure.ssd‎

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</ssd:Component>
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<ssd:Component type="application/x-fmu-sharedlibrary" source="/tmp/tracefile_writer_fmu/osi-trace-file-writer.fmu" implementation="CoSimulation" name="osi-trace-file-writer" description="Write binary OSI SensorData trace files">
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<ssd:Connectors>
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<ssd:Connector name="OSMPSensorDataIn.size" kind="input">
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<ssd:Connector name="OSIIn.size" kind="input">
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<ssc:Integer/>
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<ssd:ConnectorGeometry x="0.0" y="0.25"/>
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</ssd:Connector>
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<ssd:Connector name="OSMPSensorDataIn.base.hi" kind="input">
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<ssd:Connector name="OSIIn.base.hi" kind="input">
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<ssc:Integer/>
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<ssd:ConnectorGeometry x="0.0" y="0.5"/>
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</ssd:Connector>
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<ssd:Connector name="OSMPSensorDataIn.base.lo" kind="input">
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<ssd:Connector name="OSIIn.base.lo" kind="input">
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<ssc:Integer/>
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<ssd:ConnectorGeometry x="0.0" y="0.75"/>
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</ssd:Connector>
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<ssv:Parameter name="custom_name" description="">
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<ssv:String value="003_regression_test_7"/>
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</ssv:Parameter>
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<ssv:Parameter name="type" description="">
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<ssv:String value="sd"/>
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</ssv:Parameter>
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</ssv:Parameters>
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</ssv:ParameterSet>
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</ssd:ParameterValues>
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<ssd:Connection startElement="OSMPTraceFilePlayer" startConnector="OSMPSensorViewOut.base.hi" endElement="SensorModel" endConnector="OSMPSensorViewIn.base.hi" suppressUnitConversion="false"/>
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<ssd:Connection startElement="OSMPTraceFilePlayer" startConnector="OSMPSensorViewOut.size" endElement="SensorModel" endConnector="OSMPSensorViewIn.size" suppressUnitConversion="false"/>
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<ssd:Connection startElement="OSMPTraceFilePlayer" startConnector="OSMPSensorViewOut.base.lo" endElement="SensorModel" endConnector="OSMPSensorViewIn.base.lo" suppressUnitConversion="false"/>
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<ssd:Connection startElement="SensorModel" startConnector="OSMPSensorDataOut.base.hi" endElement="osi-trace-file-writer" endConnector="OSMPSensorDataIn.base.hi" suppressUnitConversion="false"/>
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<ssd:Connection startElement="osi-trace-file-writer" startConnector="OSMPSensorDataIn.base.lo" endElement="SensorModel" endConnector="OSMPSensorDataOut.base.lo" suppressUnitConversion="false"/>
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<ssd:Connection startElement="SensorModel" startConnector="OSMPSensorDataOut.size" endElement="osi-trace-file-writer" endConnector="OSMPSensorDataIn.size" suppressUnitConversion="false"/>
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<ssd:Connection startElement="SensorModel" startConnector="OSMPSensorDataOut.base.hi" endElement="osi-trace-file-writer" endConnector="OSIIn.base.hi" suppressUnitConversion="false"/>
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<ssd:Connection startElement="osi-trace-file-writer" startConnector="OSIIn.base.lo" endElement="SensorModel" endConnector="OSMPSensorDataOut.base.lo" suppressUnitConversion="false"/>
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<ssd:Connection startElement="SensorModel" startConnector="OSMPSensorDataOut.size" endElement="osi-trace-file-writer" endConnector="OSIIn.size" suppressUnitConversion="false"/>
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</ssd:Connections>
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<ssd:SystemGeometry x1="-619.0" y1="-666.5" x2="1849.5" y2="126.5"/>
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</ssd:System>

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