fixed merge conflicts with master

Author: jdsika

CMakeLists.txt

@@ -62,7 +62,7 @@ set(OSI_PROTO_FILES
     osi_object.proto
     osi_occupant.proto
     osi_sensordata.proto
-    osi_sensorinputconfiguration.proto
+    osi_sensorviewconfiguration.proto
     osi_sensorspecific.proto
     osi_sensorview.proto
 )

osi_environment.proto

@@ -32,13 +32,22 @@ message EnvironmentalConditions
     //
     optional double temperature = 4;
 
+    // Relative humidity in at z=0.0 in world frame.
+    //
+    // Note that physically more relevant measures, like absolute or specific
+    // humidity can be easily derived from relative_humidity, given that the
+    // temperature and atmospheric_pressure are known.
+    //
+    // Unit: [%]
+    optional double relative_humidity = 5;
+
     // Description of the precipitation.
     //
-    optional Precipitation precipitation = 5;
+    optional Precipitation precipitation = 6;
 
     // Description of the fog.
     //
-    optional Fog fog = 6;
+    optional Fog fog = 7;
 
     // Definition of discretized precipitation states according to [1].
     // (I = Intensity of precipitation in mm per hour [mm/h])

osi_sensordata.proto

@@ -2,36 +2,44 @@ syntax = "proto2";
 
 option optimize_for = SPEED;
 
+import "osi_version.proto";
 import "osi_common.proto";
 import "osi_detectedlandmark.proto";
 import "osi_detectedlane.proto";
 import "osi_detectedobject.proto";
 import "osi_detectedoccupant.proto";
-import "osi_groundtruth.proto";
 import "osi_sensorview.proto";
 import "osi_featuredata.proto";
-import "osi_hostvehicledata.proto";
 
 package osi;
 
 //
-// \brief The virtual sensor information derived from \c GroundTruth and
-// potentially processed by sensor-models.
+// \brief The sensor information derived from \c GroundTruth and processed by
+// sensor-models.
 //
-// The virtual sensor information is supposed to imitate the output of a real
-// sensor. All information regarding the environment is given with respect to
-// the sensor coordinate system specified in \c SensorData::mounting_position.
-// When simulating multiple sensors, each sensor has an individual copy of the
-// \c SensorData interface. This allows an independent treatment of the sensors.
+// The sensor information is supposed to imitate the output of real sensors.
+// All information regarding the environment is given with respect to
+// the virtual sensor coordinate system specified in
+// \c SensorData::mounting_position, except for feature data, which is given
+// with respect to the physical sensor coordinate system specified in the
+// corresponding physical sensor's coordinate system.
+//
+// When simulating multiple distinct sensors, each sensor can produce an
+// individual copy of the \c SensorData interface. This allows an independent
+// treatment of the sensors.
+//
+// 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,
+// 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.
 //
 message SensorData
 {
-    // The ID of the sensor at host vehicle's mounting_position.
-    //
-    // This ID can equal \c SensorDetectionHeader::sensor_id, if \c SensorData
-    // holds only data from one sensor/sensor model.
+    // The interface version used by the sender.
     //
-    optional Identifier sensor_id = 1;
+    optional InterfaceVersion version = 1;
 
     // The timestamp of the sensor data. Zero time is arbitrary but must be
     // identical for all messages. Zero time does not need to coincide with
@@ -60,55 +68,50 @@ message SensorData
     //
     optional Timestamp timestamp = 2;
 
-    // Ground truth w.r.t. global coordinate system.
-    //
-    // This is the ground truth that is provided to the sensor model by the
-    // simulation environment.
-    // \note Should be used as constant in the sensor models.
-    //
-    optional GroundTruth global_ground_truth = 3;
-
-    // Sensor view w.r.t. the sensor coordinate system.
-    //
-    // This provides additional data to the sensor model as configured in
-    // the sensor input configuration.  All data is relative to the sensor
-    // both in terms of the coordinate system, as well as the content.
-    // \note Should be used as constant in the sensor models.
+    // The ID of the sensor at host vehicle's mounting_position.
     //
-    optional SensorView sensor_view = 4;
-
-    // The ID of the host vehicle in the ground_truth data.
+    // 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 host_vehicle_id = 5;
+    optional Identifier sensor_id = 3;
 
-    // Mounting position of the sensor (origin and orientation of the sensor
-    // frame). Both origin and orientation are given in and with respect to the
-    // host vehicle coordinate system (see: \c Vehicle vehicle reference
-    // point) [1].
+    // 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.
     //
-    // The sensor frame's x-axis is pointing in the central viewing direction of
-    // the sensor. It is the angle bisector of the sensor's horizontal and
-    // vertical field of view. The terms horizontal and vertical must be
-    // understood as names for the two principal planes of the sensor's field of
-    // view (relative to the sensor frame's orientation), which do not have to
-    // be horizontal or vertical in the strict sense of being parallel or
-    // perpendicular to the local gravitational vector. The horizontal field
-    // of view defines the sensor frame's xy-plane and the vertical field
-    // of view defines the xz-plane. The sensor frame is right-handed and the
-    // z-axis is pointing in an upward direction.
-    //
-    // The sensor frame uses cartesian coordinates. The sensor frame's origin is
-    // identical to sensor detection frame's origin. Detections are defined in
-    // the sensor detection frame which uses e.g. spherical coordinates.
+    // \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:
-    // \li [1] DIN ISO 8855:2013-11
+    // [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 Vehicle::base.position + Inverse_Rotation_yaw_pitch_roll(\c Vehicle::base.orientation) * \c Vehicle::bbcenter_to_rear) .
+    // The orientation of the vehicle's coordinate system is equal to the orientation
+    // of the vehicle's bounding box \c Vehicle::base.orientation.
     //
-    optional MountingPosition mounting_position = 6;
+    optional MountingPosition mounting_position = 4;
 
     // The root mean squared error of the mounting position.
     //
-    optional MountingPosition mounting_position_rmse = 7;
+    optional MountingPosition mounting_position_rmse = 5;
+
+    // Sensor view w.r.t. the sensor coordinate system
+    //
+    // This provides a copy of the \c SensorView data received by the sensor
+    // for reference purposes.  For complex sensors or logic models this
+    // can be multiple copies.
+    //
+    repeated SensorView sensor_view = 6;
 
     // The timestamp of the last real-world measurement (e.g. GT input) that
     // this set of sensor data takes into account. This in effect is the last
@@ -117,11 +120,11 @@ message SensorData
     // the upper bound to the \c DetectedObjectHeader::measurement_time and the
     // feature data \c SensorDetectionHeader::measurement_time fields.
     //
-    optional Timestamp last_measurement_time = 8;
+    optional Timestamp last_measurement_time = 7;
 
     // General information about the \c DetectedObject .
     //
-    optional DetectedEntityHeader object_header = 100;
+    optional DetectedEntityHeader object_header = 8;
 
     // The list of objects detected by the sensor as perceived by the sensor.
     //
@@ -131,95 +134,103 @@ message SensorData
 
     // General information about the \c DetectedTrafficSign .
     //
-    optional DetectedEntityHeader traffic_sign_header = 101;
+    optional DetectedEntityHeader traffic_sign_header = 10;
 
     // The list of traffic signs detected by the sensor.
     //
     // \note OSI uses singular instead of plural for repeated field names.
     //
-    repeated DetectedTrafficSign traffic_sign = 10;
+    repeated DetectedTrafficSign traffic_sign = 11;
 
     // General information about the \c DetectedTrafficLight .
     //
-    optional DetectedEntityHeader traffic_light_header = 102;
+    optional DetectedEntityHeader traffic_light_header = 12;
 
     // The list of traffic lights detected by the sensor.
-    //
+	//
     // \note OSI uses singular instead of plural for repeated field names.
     //
-    repeated DetectedTrafficLight traffic_light = 11;
+    repeated DetectedTrafficLight traffic_light = 13;
 
     // General information about the \c DetectedRoadMarking .
     //
-    optional DetectedEntityHeader road_marking_header = 103;
+    optional DetectedEntityHeader road_marking_header = 14;
 
     // The list of road markings detected by the sensor.
     // This excludes lane boundary markings.
     //
-    // \note OSI uses singular instead of plural for repeated field names.
+	// \note OSI uses singular instead of plural for repeated field names.
     //
-    repeated DetectedRoadMarking road_marking = 12;
+    repeated DetectedRoadMarking road_marking = 15;
 
     // General information about the \c DetectedLane .
     //
-    optional DetectedEntityHeader lane_header = 104;
+    optional DetectedEntityHeader lane_header = 16;
 
-    // The list of lanes detected by the sensor.
+    // The list of lane detected by the sensor
     //
-    // \note OSI uses singular instead of plural for repeated field names.
+	// \note OSI uses singular instead of plural for repeated field names.
+    //
+    repeated DetectedLane lane = 17;
+
+    // The ID of the lane the host vehicle travels on in the DetectedLane data,
+    // relative to the sensor.
     //
-    repeated DetectedLane lane = 13;
+    optional Identifier host_vehicle_lane_id = 18;
 
     // General information about the \c DetectedLaneBoundary .
     //
-    optional DetectedEntityHeader lane_boundary_header = 105;
+    optional DetectedEntityHeader lane_boundary_header = 19;
 
     // The list of lane boundary markings detected by the sensor.
     //
-    // \note OSI uses singular instead of plural for repeated field names.
+	// \note OSI uses singular instead of plural for repeated field names.
     //
-    repeated DetectedLaneBoundary lane_boundary = 14;
+    repeated DetectedLaneBoundary lane_boundary = 20;
 
     // General information about the \c DetectedLandmark .
     //
-    optional DetectedEntityHeader landmark_header = 1000;
+    optional DetectedEntityHeader landmark_header = 21;
 
     // The list of landmarks detected by the sensor.
     //
-    // \note OSI uses singular instead of plural for repeated field names.
+	// \note OSI uses singular instead of plural for repeated field names.
     //
-    repeated DetectedLandmark landmark = 1001;
+    repeated DetectedLandmark landmark = 22;
 
     // General information about the \c DetectedOccupant .
     //
-    optional DetectedEntityHeader occupant_header = 106;
+    optional DetectedEntityHeader occupant_header = 23;
 
-    // The list of occupants of the host vehicle.
+    // The list of occupants of the host vehicle
     //
-    // \note OSI uses singular instead of plural for repeated field names.
-    //
-    repeated DetectedOccupant occupant = 16;
-
-    // The ID of the lane the host vehicle travels on in the DetectedLane data,
-    // relative to the sensor.
+	// \note OSI uses singular instead of plural for repeated field names.
     //
-    optional Identifier host_vehicle_lane_id = 15;
+    repeated DetectedOccupant occupant = 24;
 
     // Low level feature data interface.
     //
     // Low Level feature data is optionally provided by sensor models that
     // model sensors giving access to this low level data, i.e. data prior to
     // object hypothesis and tracking.
     //
-    optional FeatureData feature_data = 17;
+    optional FeatureData feature_data = 25;
+
+    // The sensors estimated location of the host vehicle
+    //
+    // \note This value is only set by sensors that are able to
+    // provide an own estimation of the host vehicle location.
+    // \note Note that dimension and base_polygon need not be set.
+    //
+    optional BaseMoving host_vehicle_location = 26;
 
-    // Host Vehicle Data.
+    // The sensors estimated location error of the host vehicle
     //
-    // 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.
+    // \note This value is only set by sensors that are able to
+    // provide an own estimation of the host vehicle location.
+    // \note Note that dimension and base_polygon need not be set.
     //
-    optional HostVehicleData host_vehicle_data_id = 18;
+    optional BaseMoving host_vehicle_location_rmse = 27;
 }
 
 //