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Restructure Pedestrian Data to Pedestrian Attributes
Based on the discussions in the workgroup, Pedestrian Data was reformatted to Pedestrian Attributes. Signed-off-by: Jakob Peintner <jakob.peintner@thi.de> Signed-off-by: Pierre R. Mai <pmai@pmsf.de>
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‎osi_object.proto‎

Lines changed: 176 additions & 36 deletions
Original file line numberDiff line numberDiff line change
@@ -519,59 +519,199 @@ message MovingObject
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// This is an extension to the \c MovingObject with additional information
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// describing a pedestrian in more detail.
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//
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message PedestrianData {
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message PedestrianAttributes {
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// Body height of the pedestrian
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//
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// Unit: m
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//
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optional double height = 1;
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// List of all skeleton points of the pedestrian
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//
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// The number of skeleton points may very, based on the detail level of
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// The number of skeleton points may vary, based on the detail level of
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// the pedestrian model used. For example, some simulators will not include
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// detailed data of the fingers or eyes of the pedestrian.
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//
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repeated SkeletonPoint skeleton_data = 2;
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}
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// \brief Points in the skeleton of the pedestrian
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//
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// Each point represents a joint, or otherwise important point in the skeleton
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// of a pedestrian. For example pelvis, knee or shoulder. The naming convention
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// should be followed for identifying skeleton points.
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//
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message SkeletonPoint {
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//
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// \brief Points in the skeleton of the pedestrian
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//
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// Each point represents a joint, or otherwise important point in the skeleton
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// of a pedestrian. For example Pelvis, Knee or Shoulder. The naming convention
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// should be followed for identifying skeleton points.
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//
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message SkeletonPoint {
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// Skeleton points are identified by their type, combined with which body side
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// they are on.
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//
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// To properly identify the skeleton points the pre-defined naming convention
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// must be used.
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//
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//\image html OSI_SkeletonNamingConvention.jpg
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//
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// If a skeleton point is used, which is more than one layer detached from the
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// root point, all sekleton points between that point and the root point also
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// need to be defined in order to create a complete chain!
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//
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optional Type type = 1;
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// The side of the body on which the Skeleton Point is located at.
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//
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// Skeleton Points can either be on the left or right side of the body. The spine,
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// neck, and head are located in the middle.
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//
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optional Side side = 2;
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// Skeleton points are identified by a naming scheme
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//
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// To properly identify the skeleton points the pre-defined naming convention
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// must be used.
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//
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//\image html OSI_SkeletonNamingConvention.jpg
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//
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required string identifier = 1;
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// If there are multiple Skeleton Points of the same type, they are additionally
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// identified by their number.
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//
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// In case of the spine, head, jaw, fingers, and toes there can be multiple
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// Skeleton Points in these bodyparts, depending on the desired level of detail.
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// Smaller numbers are located closer to the root/previous Skeleton Point.
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//
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optional uint32 number = 3;
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// Position of the skeleton point
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//
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// Reference System is the middle of the bounding box (\c MovingObject::base
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// \c BaseMoving::position).
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//
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required Vector3d position = 2;
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// Position of the skeleton point
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//
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// Reference System is the middle of the bounding box (\c MovingObject::base
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// \c BaseMoving::position).
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//
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optional Vector3d position = 4;
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// Orientation of the skeleton point
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//
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// Reference System is the middle of the bounding box (\c MovingObject::base
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// \c BaseMoving::orientation).
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//
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required Orientation3d orientation = 3;
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// Orientation of the skeleton point
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//
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// Reference System is the middle of the bounding box (\c MovingObject::base
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// \c BaseMoving::orientation).
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//
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optional Orientation3d orientation = 5;
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// The type of the skeleton point
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//
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// \note Skeleton Points of each type can be assigned, or left empty depending
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// on the desired level of detail, or present data. However, if a Skeleton Point
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// is defined, all Skeleton Points in the chain from that point back to the root
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// point must be defined to create a complete chain.
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//
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enum Type {
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// Root point is usually located in the COM
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//
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TYPE_ROOT = 0;
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// Skeleton Point is located in the hip.
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//
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TYPE_HIP = 1;
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// Skeleton Points defines part of the spine.
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//
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// \note skeleton usually contains more than one spine point.
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//
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TYPE_SPINE = 2;
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// Skeleton Point defines the neck.
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//
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TYPE_NECK = 3;
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// Skeleton Point defines the head.
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//
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TYPE_HEAD = 4;
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// Skeleton Point defines one of the eyes.
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//
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TYPE_EYE = 5;
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// Skeleton Point defines the jaw.
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//
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TYPE_JAW = 6;
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// Skeleton Point defines one of the shoulders.
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//
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TYPE_SHOULDER = 7;
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// Skeleton Point defines one of the upper arms.
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//
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TYPE_UPPER_ARM = 8;
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// Skeleton Point defines one of the forearms.
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//
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TYPE_FORE_ARM = 9;
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// Skeleton Point defines one of the hands.
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//
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TYPE_HAND = 10;
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// Skeleton Point defines one of the thumbs.
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//
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// \note Fingers usually contain three skeleton points (start, middle, end)
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//
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TYPE_FINGER_THUMB = 11;
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// Skeleton Point defines one of the index fingers.
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//
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// \note Fingers usually contain three skeleton points (start, middle, end)
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//
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TYPE_FINGER_INDEX = 12;
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// Skeleton Point defines one of the middle fingers.
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//
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// \note Fingers usually contain three skeleton points (start, middle, end)
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//
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TYPE_FINGER_MIDDLE = 13;
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// Skeleton Point defines one of the ring fingers.
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//
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// \note Fingers usually contain three skeleton points (start, middle, end)
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//
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TYPE_FINGER_RING = 14;
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// Skeleton Point defines one of the pinky fingers.
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//
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// \note Fingers usually contain three skeleton points (start, middle, end)
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//
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TYPE_FINGER_PINKY = 15;
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// Skeleton Point defines one of the thighs.
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//
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TYPE_THIGH = 16;
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// Skeleton Point defines one of the shins.
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//
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TYPE_SHIN = 17;
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// Skeleton Point defines one of the feet.
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//
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TYPE_FOOT = 18;
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// Skeleton Point defines one of the toes.
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//
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// \note Toes usually contain two skeleton points for start and end.
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//
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TYPE_TOES = 19;
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}
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// Defines on which side of the body the Skeleton Point is located at.
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//
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enum Side {
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// Left body side.
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//
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SIDE_LEFT = 0;
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// Right body side.
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//
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SIDE_RIGHT = 1;
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// For root, spine, neck, head and jaw, middle is used for side.
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//
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SIDE_MIDDLE = 2;
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}
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}
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}
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//
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// \brief The vehicle attributes for \c MovingObject (host or other).
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//

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