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osi_sensorview.proto
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osi_sensorview.proto
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syntax = "proto2";
option optimize_for = SPEED;
import "osi_version.proto";
import "osi_common.proto";
import "osi_groundtruth.proto";
import "osi_sensorviewconfiguration.proto";
import "osi_hostvehicledata.proto";
package osi3;
//
// \brief The sensor view is derived from \c GroundTruth and used as
// input to sensor models.
//
// The sensor view information is supposed to provide input to sensor
// models for simulation of actual real sensors.
// All information regarding the environment is given with respect to
// the virtual sensor coordinate system specified in
// \c SensorView::mounting_position, except for the individual physical
// technology-specific data, which is given with respect to the physical
// sensor coordinate system specified in the corresponding physical sensor's
// \c #mounting_position, and the \c #global_ground_truth, which is given in
// global coordinates.
//
// When simulating multiple distinct sensors, each sensor can consume an
// individual copy of the \c SensorView interface. This allows an independent
// treatment of the sensors.
//
// Alternatively combined sensor models can also consume one combined
// \c SensorView, with either combined or separate \c SensorData outputs,
// depending on model architecture.
//
message SensorView
{
// The interface version used by the sender (simulation environment).
//
optional InterfaceVersion version = 1;
// The data timestamp of the simulation environment. Zero time is arbitrary
// but must be identical for all messages. Zero time does not need to
// coincide with the UNIX epoch. Recommended is the starting time point of
// the simulation.
//
// \note For sensor view data this timestamp coincides both with the
// notional simulation time the data applies to and the time it was sent
// (there is no inherent latency for sensor view data, as opposed to
// sensor data).
//
optional Timestamp timestamp = 2;
// The ID of the sensor at host vehicle's \c #mounting_position.
//
// This is the ID of the virtual sensor, to be used in its detected
// object output; it is distinct from the IDs of its physical detectors,
// which are used in the detected features.
//
optional Identifier sensor_id = 3;
// The virtual mounting position of the sensor (origin and orientation
// of the sensor coordinate system) given in vehicle coordinates [1].
// The virtual position pertains to the sensor as a whole, regardless
// of the actual position of individual physical detectors, and governs
// the sensor-relative coordinates in detected objects of the sensor
// as a whole. Individual features detected by individual physical
// detectors are governed by the actual physical mounting positions
// of the detectors, as indicated in the technology-specific sub-views
// and sub-view configurations.
//
// \arg \b x-direction of sensor coordinate system: sensor viewing direction
// \arg \b z-direction of sensor coordinate system: sensor (up)
// \arg \b y-direction of sensor coordinate system: perpendicular to x and z
// right hand system
//
// \par References:
// - [1] DIN ISO 8855:2013-11
//
// \note This field is usually static during the simulation.
// \note The origin of vehicle's coordinate system in world frame is
// ( \c MovingObject::base . \c BaseMoving::position +
// Inverse_Rotation_yaw_pitch_roll( \c MovingObject::base . \c
// BaseMoving::orientation) * \c
// MovingObject::VehicleAttributes::bbcenter_to_rear) . The orientation of
// the vehicle's coordinate system is equal to the orientation of the
// vehicle's bounding box \c MovingObject::base . \c
// BaseMoving::orientation.
//
optional MountingPosition mounting_position = 4;
// The root mean squared error of the mounting position.
//
optional MountingPosition mounting_position_rmse = 5;
// Host vehicle data.
//
// Host vehicle data is data that the host vehicle knows about itself,
// e.g. from location sensors, internal sensors and ECU bus data, etc.,
// that is made available to sensors as input.
//
optional HostVehicleData host_vehicle_data = 6;
// Ground truth w.r.t. global coordinate system.
//
// This is the ground truth that is provided to the sensor model by the
// simulation environment. It may be filtered as per the requirements of
// the sensor model as expressed by the \c SensorViewConfiguration
// message(s) that where exchanged during the simulation initialization
// phase.
//
// \note The host vehicle is always contained in the ground truth provided,
// regardless of any filtering. The ground truth MUST contain at least as
// much of the ground truth data, as is requested by the sensor model, but
// MAY always contain more data, since the filtering is intended only as
// an optimization mechanism, not as a replacement of a proper sensor
// field of view modeling.
//
optional GroundTruth global_ground_truth = 7;
// The ID of the host vehicle in the \c #global_ground_truth data.
//
optional Identifier host_vehicle_id = 8;
// Generic SensorView(s).
//
// \note OSI uses singular instead of plural for repeated field names.
//
repeated GenericSensorView generic_sensor_view = 1000;
// Radar-specific SensorView(s).
//
// \note OSI uses singular instead of plural for repeated field names.
//
repeated RadarSensorView radar_sensor_view = 1001;
// Lidar-specific SensorView(s).
//
// \note OSI uses singular instead of plural for repeated field names.
//
repeated LidarSensorView lidar_sensor_view = 1002;
// Camera-specific SensorView(s).
//
// \note OSI uses singular instead of plural for repeated field names.
//
repeated CameraSensorView camera_sensor_view = 1003;
// Ultrasonic-specific SensorView(s).
//
// \note OSI uses singular instead of plural for repeated field names.
//
repeated UltrasonicSensorView ultrasonic_sensor_view = 1004;
}
//
// \brief Definition of the generic sensor view.
//
// Generic sensor view data.
//
message GenericSensorView
{
// Generic view configuration valid at the time the data was created.
//
optional GenericSensorViewConfiguration view_configuration = 1;
}
//
// \brief Definition of the radar sensor view.
//
// Radar specific sensor view data.
//
message RadarSensorView
{
// Radar view configuration valid at the time the data was created.
//
optional RadarSensorViewConfiguration view_configuration = 1;
// Ray tracing data.
//
// 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;
//
// \brief Definition of the radar reflection.
//
message Reflection
{
// Relative signal level of the reflection.
//
// 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.
//
// Unit: [dB]
//
optional double signal_strength = 1;
// Time of flight.
//
// This is the time of flight of the reflection, which is directly
// proportional to the distance traveled.
//
// Unit: [s]
//
optional double time_of_flight = 2;
// 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.
//
// Unit: [rad]
//
optional double source_vertical_angle = 5;
}
}
//
// \brief Definition of the lidar sensor view.
//
// Lidar specific sensor view data.
//
message LidarSensorView
{
// Lidar view configuration valid at the time the data was created.
//
optional LidarSensorViewConfiguration view_configuration = 1;
// Ray tracing data.
//
// 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;
//
// \brief Definition of the lidar reflection.
//
message Reflection
{
// Relative signal level of the reflection.
//
// 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).
//
// Unit: [dB]
//
optional double signal_strength = 1;
// Time of flight.
//
// This is the time of flight of the reflection, which is directly
// proportional to the distance traveled.
//
// Unit: [s]
//
optional double time_of_flight = 2;
// Doppler shift.
//
// Shift in frequency based on the specified TX frequency.
//
// Unit: [Hz]
//
optional double doppler_shift = 3;
// normal to surface angle.
//
// The normal of the transmitted beam to the object, roadmarking etc
// encounter. \note data is in Lidar coordinate system
//
// Unit: [unit vector]
//
optional Vector3d normal_to_surface = 5;
// ID of the detected object this reflection is associated to.
// can be used for raytracing debug
//
// \note ID = MAX(uint64) indicates no reference to an object.
optional Identifier object_id = 6;
}
}
//
// \brief Definition of the camera sensor view.
//
// Camera specific sensor view data.
//
message CameraSensorView
{
// Camera view configuration valid at the time the data was created.
//
optional CameraSensorViewConfiguration view_configuration = 1;
// Raw image data.
//
// The raw image data in the memory layout and order specified by the
// camera sensor input configuration.
//
optional bytes image_data = 2;
}
//
// \brief Definition of the ultrasonic sensor view.
//
// Ultrasonic specific sensor view data.
//
message UltrasonicSensorView
{
// Ultrasonic view configuration valid at the time the data was created.
//
optional UltrasonicSensorViewConfiguration view_configuration = 1;
}