Merge pull request #721 from thomassedlmayer/fix/docs-sensordata-parent-frame-definitions

Fix sensordata reference frame definitions

Author: pmai

osi_detectedlane.proto

@@ -54,6 +54,15 @@ message DetectedLane
 //
 // \image html OSI_DetectedLaneBoundary.svg
 //
+// The parent frame of a detected lane boundary is the virtual sensor coordinate
+// system.
+//
+// /note The virtual sensor coordinate system is relative to the vehicle coordinate
+// system which has its origin in the center of the rear axle of the ego
+// vehicle. This means if virtual sensor mounting position and orientation are
+// set to (0,0,0) the virtual sensor coordinate system coincides with the
+// vehicle coordinate system.
+//
 message DetectedLaneBoundary
 {
     // Common information of one detected item.

osi_detectedobject.proto

@@ -93,6 +93,15 @@ message DetectedItemHeader
 //
 // \image html OSI_DetectedStationaryObject.svg
 //
+// The parent frame of a detected stationary object is the virtual sensor
+// coordinate system.
+//
+// /note The virtual sensor coordinate system is relative to the vehicle coordinate
+// system which has its origin in the center of the rear axle of the ego
+// vehicle. This means if virtual sensor mounting position and orientation are
+// set to (0,0,0) the virtual sensor coordinate system coincides with the
+// vehicle coordinate system.
+//
 message DetectedStationaryObject
 {
     // Common information of one detected item.
@@ -172,8 +181,17 @@ message DetectedStationaryObject
 }
 
 //
-// \brief Moving object in the environment as detected and perceived by
-// the sensor.
+// \brief Moving object in the environment as detected and perceived by the
+// sensor.
+//
+// The parent frame of a detected moving object is the virtual sensor coordinate
+// system.
+//
+// /note The virtual sensor coordinate system is relative to the vehicle coordinate
+// system which has its origin in the center of the rear axle of the ego
+// vehicle. This means if virtual sensor mounting position and orientation are
+// set to (0,0,0) the virtual sensor coordinate system coincides with the
+// vehicle coordinate system.
 //
 message DetectedMovingObject
 {
@@ -183,8 +201,7 @@ message DetectedMovingObject
 
     // The base parameters of the moving object.
     //
-    // \note The bounding box does NOT includes mirrors for vehicles.
-    // \note The parent frame of \c base is the sensor's vehicle frame.
+    // \note The bounding box does NOT include mirrors for vehicles.
     // \note The height includes the ground_clearance. It always goes from the
     // top to the ground.
     //
@@ -194,8 +211,6 @@ message DetectedMovingObject
     // moving object (e.g. car). \c MovingObject::base has to be
     // identical for all \c #candidate moving objects.
     //
-    // \note The parent frame of \c base is the sensor's vehicle frame.
-    //
     optional BaseMoving base_rmse = 3;
 
     // Reference point location specification of the sensor measurement

osi_detectedroadmarking.proto

@@ -20,6 +20,15 @@ package osi3;
 // RoadMarking::Classification::type == \c
 // RoadMarking::Classification::TYPE_SYMBOLIC_TRAFFIC_SIGN is not marked.
 //
+// The parent frame of a detected road marking is the virtual sensor coordinate
+// system.
+//
+// /note The virtual sensor coordinate system is relative to the vehicle coordinate
+// system which has its origin in the center of the rear axle of the ego
+// vehicle. This means if virtual sensor mounting position and orientation are
+// set to (0,0,0) the virtual sensor coordinate system coincides with the
+// vehicle coordinate system.
+//
 message DetectedRoadMarking
 {
     // Common information of one detected item.

osi_detectedtrafficlight.proto

@@ -17,6 +17,15 @@ package osi3;
 // several bulbs, e.g. red, yellow, green are three separate detected traffic
 // lights.
 //
+// The parent frame of a detected traffic light is the virtual sensor coordinate
+// system.
+//
+// /note The virtual sensor coordinate system is relative to the vehicle coordinate
+// system which has its origin in the center of the rear axle of the ego
+// vehicle. This means if virtual sensor mounting position and orientation are
+// set to (0,0,0) the virtual sensor coordinate system coincides with the
+// vehicle coordinate system.
+//
 message DetectedTrafficLight
 {
     // Common information of one detected item.

osi_detectedtrafficsign.proto

@@ -13,6 +13,15 @@ package osi3;
 //
 // \image html OSI_DetectedSign.svg
 //
+// The parent frame of a detected traffic sign is the virtual sensor coordinate
+// system.
+//
+// \note The virtual sensor coordinate system is relative to the vehicle coordinate
+// system which has its origin in the center of the rear axle of the ego
+// vehicle. This means if virtual sensor mounting position and orientation are
+// set to (0,0,0) the virtual sensor coordinate system coincides with the
+// vehicle coordinate system.
+//
 message DetectedTrafficSign
 {
     // Common information of one detected item.
@@ -45,11 +54,14 @@ message DetectedTrafficSign
         //
         // The orientation of the bounding box \c #base
         // ( \c BaseStationary::orientation ) is defined as follows:
+        //
         // The z-axis of the given \c BaseStationary::orientation is the vector
         // from the bottom to the top of the traffic sign's 2D image plate.
         // (Normally it is equal to the ground truth z-axis.)
+        //
         // The x-axis of the given \c BaseStationary::orientation is view
         // normal of the traffic sign's image.
+        //
         // This x-axis points from the traffic sign's image in the direction
         // from where a 'viewer' could see the traffic sign image.
         //

osi_featuredata.proto

@@ -70,10 +70,9 @@ message SensorDetectionHeader
     //
     optional uint64 cycle_counter = 2;
 
-    // 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 MovingObject::Vehicle vehicle
-    // reference point) [1].
+    // The physical 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 [1].
     //
     // 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

osi_logicaldetectiondata.proto

@@ -25,9 +25,17 @@ message LogicalDetectionData
     //
     optional LogicalDetectionDataHeader header = 2;
 
-    // logical detections consisting of transformed (and potentially fused) detections from one or multiple sensors and sensor types.
-    // Logical detections are given with respect to the reference frame of the logical/virtual sensor
-    // \c SensorView::mounting_position (e.g. center of rear axle of the ego car)
+    // Logical detections consisting of transformed (and potentially fused)
+    // detections from one or multiple sensors and sensor types.
+    //
+    // The parent frame of a logical detection is the virtual sensor coordinate
+    // system specified by \c SensorView::mounting_position .
+    //
+    // /note The virtual sensor coordinate system is relative to the vehicle
+    // coordinate system which has its origin in the center of the rear axle of
+    // the ego vehicle. This means if virtual sensor mounting position and
+    // orientation are set to (0,0,0) the virtual sensor coordinate system
+    // coincides with the vehicle coordinate system.
     //
     repeated LogicalDetection logical_detection = 3;
 }
@@ -131,8 +139,8 @@ message LogicalDetection
     //
     optional Identifier object_id = 2;
 
-    // Measured position of the logical detection given in cartesian coordinates in the
-    // host vehicle coordinate system.
+    // Measured position of the logical detection given in cartesian coordinates
+    // in the virtual sensor coordinate system.
     //
     // Unit: m
     //
@@ -143,7 +151,7 @@ message LogicalDetection
     optional Vector3d position_rmse = 4;
 
     // Velocity of the logical detection given in cartesian coordinates in the
-    // host vehicle coordinate system.
+    // virtual sensor coordinate system.
     //
     // Unit: m/s
     //

osi_sensorview.proto

@@ -62,15 +62,17 @@ message SensorView
     //
     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.
+    // The virtual 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 [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)