Merge pull request #200 from OpenSimulationInterface/improvement/harmonize-detectedobjects

Improvement/harmonize detectedobjects (solves #197)

Author: pmai

CMakeLists.txt

@@ -26,10 +26,10 @@ if(WIN32 AND NOT CYGWIN)
 else()
   set(DEF_INSTALL_CMAKE_DIR lib/cmake/${PROJECT_NAME})
 endif()
-set(INSTALL_CMAKE_DIR ${DEF_INSTALL_CMAKE_DIR} CACHE PATH 
+set(INSTALL_CMAKE_DIR ${DEF_INSTALL_CMAKE_DIR} CACHE PATH
     "Installation directory for CMake files")
 
-# read the version number from the file "VERSION" 
+# read the version number from the file "VERSION"
 file(STRINGS "VERSION" VERSION_CONTENTS)
 foreach(LINE ${VERSION_CONTENTS})
   string(REGEX REPLACE " |\t" "" LINE ${LINE})
@@ -61,7 +61,6 @@ set(OSI_PROTO_FILES
     osi_landmark.proto
     osi_lane.proto
     osi_featuredata.proto
-    osi_modelinternal.proto
     osi_object.proto
     osi_occupant.proto
     osi_sensordata.proto
@@ -147,7 +146,7 @@ install(FILES ${PROTO_HEADERS}
 
 # Install the export set for use with the install-tree
 install(EXPORT ${PROJECT_NAME}_targets
-        DESTINATION "${INSTALL_CMAKE_DIR}" 
+        DESTINATION "${INSTALL_CMAKE_DIR}"
         COMPONENT dev)
 
 # add a target to generate API documentation with Doxygen
@@ -160,22 +159,22 @@ if(NOT DOXYGEN_FOUND)
     message(WARNING  "Doxygen could not be found.")
 
 else()
-    
+
     if(NOT EXISTS ${FILTER_PROTO2CPP_PY_PATH}/proto2cpp.py)
-    
+
     message(WARNING  "${FILTER_PROTO2CPP_PY_PATH}/proto2cpp.py could not be found.")
 
     else()
-    
+
         set(doxyfile_in ${CMAKE_CURRENT_SOURCE_DIR}/doxygen_config.cmake.in)
         set(doxyfile ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
 
         configure_file(${doxyfile_in} ${doxyfile} @ONLY)
 
-        ADD_CUSTOM_TARGET(api_doc ALL 
+        ADD_CUSTOM_TARGET(api_doc ALL
         COMMAND ${DOXYGEN_EXECUTABLE} ${doxyfile}
         WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})
-    
+
     endif(NOT EXISTS ${FILTER_PROTO2CPP_PY_PATH}/proto2cpp.py)
-    
+
 endif(NOT DOXYGEN_FOUND)

README.md

@@ -43,9 +43,9 @@ Specific errors should be handled as follows:
     An additional SensorDataObject is added to the list of objects in SensorData.object
     with SensorDataObject.model_internal_object.ground_truth_type set to kTypeGhost.
 - False negative:
-    The object is marked as not seen by the sensor by setting the property 
-    SensorDataObject.model_internal_object.is_seen to false. The implementation 
-    of field-of-view calculation modules should respect this flag and never reset 
+    The object is marked as not seen by the sensor by setting the property
+    SensorDataObject.model_internal_object.is_seen to false. The implementation
+    of field-of-view calculation modules should respect this flag and never reset
     an object marked as not-seen to seen.
 
 
@@ -55,7 +55,7 @@ The version number is defined in InterfaceVersion::version_number in osi_common.
 
 Major:
 A change of the major version results in an incompatibility of code and recorded proto messages.
-- An existing field with a number changes its meaning 
+- An existing field with a number changes its meaning
   optional double field = 1; -> repeated double field = 1;
   Changing the definition of units of a field
 - Deleting a field  and reusing the field number
@@ -88,11 +88,11 @@ Documentation
 
 Detailed information about installation and usage of OSI can be found in the [Wiki](https://github.com/OpenSimulationInterface/open-simulation-interface/wiki)
 
-In order to generate the doxygen documentation for OSI, please follow the following steps: 
+In order to generate the doxygen documentation for OSI, please follow the following steps:
 1. Install [Doxygen](http://www.stack.nl/~dimitri/doxygen/download.html), set an environmental variable 'doxygen' with the path to the binary file and add it to the PATH variable: `PATH += %doxygen%`.
 2. Download the [vg-1.5.0.zip](https://github.com/vgteam/vg/releases/tag/v1.5.0). Unpack and copy the content of folder /vg-1.5.0/contrib/proto2cpp to your desired `<path-to-proto2cpp.py>`
 3. Install [graphviz-2.38](http://www.graphviz.org/Download_windows.php ), set an environmental variable 'graphviz' with the path to the binary file and add it to the PATH variable: `PATH += %graphviz%`.
-4. From the cmd navigate to the build directory and run: 
+4. From the cmd navigate to the build directory and run:
 ```cmd
 cmake -DFILTER_PROTO2CPP_PY_PATH=<path-to-proto2cpp.py> <path-to-CMakeLists.txt>
 ```

doxygen_config.cmake.in

@@ -2,7 +2,7 @@
 PROJECT_NAME           = "@CMAKE_PROJECT_NAME@"
 PROJECT_NUMBER         = @VERSION_MAJOR@.@VERSION_MINOR@.@VERSION_PATCH@
 
-#Set input and output directories 
+#Set input and output directories
 INPUT                  = "@CMAKE_CURRENT_SOURCE_DIR@"
 INPUT                 += "@CMAKE_CURRENT_SOURCE_DIR@/README.md"
 
@@ -13,7 +13,7 @@ IMAGE_PATH             = "@CMAKE_CURRENT_SOURCE_DIR@/doc/images"
 
 # There is no standard configuration for .proto files documentation.
 # A Doxygen filter for .proto files has to be added under the directory doc/.
-# proto2cpp.py is an external script. See README.md for more informations. 
+# proto2cpp.py is an external script. See README.md for more informations.
 JAVADOC_AUTOBRIEF      = NO
 EXTENSION_MAPPING      = proto=C
 FILE_PATTERNS          = *.proto

osi_common.proto

@@ -4,7 +4,6 @@ option optimize_for = SPEED;
 
 package osi3;
 
-
 //
 // \brief A cartesian 3D vector for positions, velocities or accelerations or
 // its uncertainties.
@@ -215,7 +214,7 @@ message MountingPosition
 // \c SensorDetectionHeader) to make its x-axis point towards the referenced point
 // or to align it with the referenced vector. The rotations are to be performed
 // \b azimuth \b first (around the z-axis) and \b elevation \b second (around
-// the new y-axis) to follow the definition of \c Orientation3D. For the
+// the new y-axis) to follow the definition of \c Orientation3d. For the
 // sense of each rotation, the right-hand rule applies.
 //
 // <tt>vector_cartesian := Rotation(#elevation)*Rotation(#azimuth)*Unit_vector_x*#distance</tt>
@@ -249,8 +248,8 @@ message Spherical3d
 //
 // All coordinates and orientations from ground truth objects are relative to
 // the global ground truth frame. All coordinates and orientations
-// from detected objects are relative to the host vehicle frame (see: \c Vehicle
-// vehicle reference point).
+// from detected objects are relative to the host vehicle frame (see:
+// \c MovingObject.Vehicle vehicle reference point).
 //
 message BaseStationary
 {
@@ -298,14 +297,14 @@ message BaseStationary
 }
 
 //
-// \brief The base attributes of each object that is moving.
+// \brief The base attributes of an object that is moving.
 //
 // This includes the \c MovingObject messages.
 //
 // All coordinates and orientations from ground truth objects are relative to
 // the global ground truth frame. All coordinates and orientations
-// from detected objects are relative to the host vehicle frame (see: \c Vehicle
-// vehicle reference point).
+// from detected objects are relative to the host vehicle frame
+// (see: \c MovingObject.Vehicle vehicle reference point).
 //
 message BaseMoving
 {

osi_datarecording.proto

@@ -19,19 +19,6 @@ message SensorDataSeries
     repeated SensorData sensor_data = 1;
 }
 
-//
-// \brief List of \c SensorData interface copies, one for each sensor in the
-//  vehicle.
-//
-// Can be used to bundle output of multiple sensors in one transmission.
-//
-message SensorDataList
-{
-    // List of sensor data for multiple sensors at a specific timestep.
-    //
-    repeated SensorData sensor = 1;
-}
-
 //
 // \brief List of sensors where each element contains a time series of
 // \c SensorData messages.