Merge pull request #446 from OpenSimulationInterface/feature/sm/sensorviewconfig-extension

Enhanced CameraSensorViewConfiguration Message

Author: pmai

.gitignore

@@ -35,3 +35,4 @@ githooks/pre-commit
 
 # PyCharm specific files
 .idea
+.vscode/settings.json

osi_common.proto

@@ -491,3 +491,30 @@ message StatePoint
     //
     optional Orientation3d orientation = 3;
 }
+//
+// \brief Detailed WavelengthRange message.
+//
+// Defines the start (minimum) and the end (maximum) values of the wavelength.
+// Additionally, the number of samples within this range is defined in this message.
+//
+message WavelengthData
+{
+    // The start, or the minimum wavelength value.
+    //
+    // Unit: m
+    //
+    optional double start = 1;
+
+    // The end, or the maximum wavelength value.
+    //
+    // Unit: m
+    //
+    optional double end = 2;
+
+    // Number of samples to be considered within the defined wavelength range.
+    // The number of samples includes the start and the end values that are defined in this message, starting from the "start" value.
+    // \note This defines the number of wavelengths to be computed during simulation, not to be confused with samples_per_pixel.
+    //
+    optional double samples_number = 3;
+}
+

osi_sensorviewconfiguration.proto

@@ -706,6 +706,34 @@ message CameraSensorViewConfiguration
     //
     repeated ChannelFormat channel_format = 8;
 
+    // Number of samples per pixel.
+    //
+    // \note This is a characteristic of the ray tracing engine of the
+    // environment simulation, not a direct characteristic of the sensor.
+    //
+    // \rules
+    // is_greater_than_or_equal_to: 1
+    // \endrules
+    //
+    optional uint32 samples_per_pixel = 9;
+
+    // Maximum number of interactions to take into account.
+    //
+    // \note This is a characteristic of the ray tracing engine of the
+    // environment simulation, not a direct characteristic of the sensor.
+    //
+    // \rules
+    // is_greater_than_or_equal_to: 1
+    // \endrules
+    //
+    optional uint32 max_number_of_interactions = 10;
+
+    // In use-cases where a spectral ray-tracer is used, this message
+    // determines the range of the wavelength and its desired number
+    // of samples.
+    //
+    repeated WavelengthData wavelength_data = 11;
+
     // Channel format.
     //
     enum ChannelFormat
@@ -752,29 +780,72 @@ message CameraSensorViewConfiguration
         //
         CHANNEL_FORMAT_RGB_F32_LIN = 9;
 
-        // Bayer RGGB Channels UINT8 FP Linear.
+        // Bayer BGGR Channels UINT8 FP Linear.
         //
         CHANNEL_FORMAT_BAYER_BGGR_U8_LIN = 10;
 
-        // Bayer RGGB Channels UINT16 FP Linear.
+        // Bayer BGGR Channels UINT16 FP Linear.
         //
         CHANNEL_FORMAT_BAYER_BGGR_U16_LIN = 11;
 
-        // Bayer RGGB Channels UINT32 FP Linear.
+        // Bayer BGGR Channels UINT32 FP Linear.
         //
         CHANNEL_FORMAT_BAYER_BGGR_U32_LIN = 12;
 
-        // Bayer RGGB Channels Single Precision FP Linear.
+        // Bayer BGGR Channels Single Precision FP Linear.
         //
         CHANNEL_FORMAT_BAYER_BGGR_F32_LIN = 13;
 
-        // TBD: Further channel permutations and padding (e.g. RGBZ,
-        // BGR, BAYER_RGGB/GBRG/GRBG/...), non-BAYER filters, non-linear
-        // encodings, ...
-    }
+        // Bayer RGGB Channels UINT8 FP Linear.
+        //
+        CHANNEL_FORMAT_BAYER_RGGB_U8_LIN = 14;
 
-    // TBD: Optical (and other) effects to apply to image, etc.
-    //
+        // Bayer RGGB Channels UINT16 FP Linear.
+        //
+        CHANNEL_FORMAT_BAYER_RGGB_U16_LIN = 15;
+
+        // Bayer RGGB Channels UINT32 FP Linear.
+        //
+        CHANNEL_FORMAT_BAYER_RGGB_U32_LIN = 16;
+
+        // Bayer RGGB Channels Single Precision FP Linear.
+        //
+        CHANNEL_FORMAT_BAYER_RGGB_F32_LIN = 17;
+
+        // Red Clear Clear Clear Channels UINT8 FP Linear.
+        //
+        CHANNEL_FORMAT_RCCC_U8_LIN = 18;
+
+        // Red Clear Clear Clear Channels UINT16 FP Linear.
+        //
+        CHANNEL_FORMAT_RCCC_U16_LIN = 19;
+
+        // Red Clear Clear Clear Channels UINT32 FP Linear.
+        //
+        CHANNEL_FORMAT_RCCC_U32_LIN = 20;
+
+        // Red Clear Clear Clear Channels Single Precision FP Linear.
+        //
+        CHANNEL_FORMAT_RCCC_F32_LIN = 21;
+
+        // Red Clear Clear Blue Channels UINT8 FP Linear.
+        //
+        CHANNEL_FORMAT_RCCB_U8_LIN = 22;
+
+        // Red Clear Clear Blue Channels UINT16 FP Linear.
+        //
+        CHANNEL_FORMAT_RCCB_U16_LIN = 23;
+
+        // Red Clear Clear Blue Channels UINT32 FP Linear.
+        //
+        CHANNEL_FORMAT_RCCB_U32_LIN = 24;
+
+        // Red Clear Clear Blue Channels Single Precision FP Linear.
+        //
+        CHANNEL_FORMAT_RCCB_F32_LIN = 25;
+        
+    }
+    
 }
 
 //