Merge pull request #194 from OpenSimulationInterface/feature/genericsensorview

Generic Sensor Sub Views and Timestamps

Author: jdsika

osi_sensorview.proto

@@ -111,29 +111,47 @@ message SensorView
     //
     optional Identifier host_vehicle_id = 8;
 
+    // Generic SensorView(s).
+    //
+    // \note OSI uses singular instead of plural for repeated field names.
+    //
+    repeated GenericSensorView generic_sensor_view = 1000;
+
     // Radar-specific SensorView(s).
     //
     // \note OSI uses singular instead of plural for repeated field names.
     //
-    repeated RadarSensorView radar_sensor_view = 1000;
+    repeated RadarSensorView radar_sensor_view = 1001;
 
     // Lidar-specific SensorView(s).
     //
     // \note OSI uses singular instead of plural for repeated field names.
     //
-    repeated LidarSensorView lidar_sensor_view = 1001;
+    repeated LidarSensorView lidar_sensor_view = 1002;
 
     // Camera-specific SensorView(s).
     //
     // \note OSI uses singular instead of plural for repeated field names.
     //
-    repeated CameraSensorView camera_sensor_view = 1002;
+    repeated CameraSensorView camera_sensor_view = 1003;
 
     // Ultrasonic-specific SensorView(s).
     //
     // \note OSI uses singular instead of plural for repeated field names.
     //
-    repeated UltrasonicSensorView ultrasonic_sensor_view = 1003;
+    repeated UltrasonicSensorView ultrasonic_sensor_view = 1004;
+}
+
+//
+// \brief Definition of the generic sensor view.
+//
+// Generic sensor view data.
+//
+message GenericSensorView
+{
+    // Generic view configuration valid at the time the data was created.
+    //
+    optional GenericSensorViewConfiguration view_configuration = 1;
 }
 
 //

osi_sensorviewconfiguration.proto

@@ -150,7 +150,7 @@ message SensorViewConfiguration
     // Unit: [s]
     // \note In the case of FMU packaging this will correspond to the
     // communication step size.
-    optional double update_cycle_time = 8;
+    optional Timestamp update_cycle_time = 8;
 
     // Initial update cycle offset of the sensor model.
     //
@@ -170,7 +170,7 @@ message SensorViewConfiguration
     // simulation start times, e.g. for partial resimulation.
     //
     // Unit: [s]
-    optional double update_cycle_offset = 9;
+    optional Timestamp update_cycle_offset = 9;
 
     // Simulation Start time
     //
@@ -179,31 +179,103 @@ message SensorViewConfiguration
     // the sensor model.
     //
     // Unit: [s]
-    optional double simulation_start_time = 10;
+    optional Timestamp simulation_start_time = 10;
 
+    // Generic SensorView Configuration(s).
+    //
+    // \note OSI uses singular instead of plural for repeated field names.
+    //
+    repeated GenericSensorViewConfiguration generic_sensor_view_configuration = 1000;
     // Radar-specific SensorView Configuration(s).
     //
     // \note OSI uses singular instead of plural for repeated field names.
     //
-    repeated RadarSensorViewConfiguration radar_sensor_view_configuration = 1000;
+    repeated RadarSensorViewConfiguration radar_sensor_view_configuration = 1001;
 
     // Lidar-specific SensorView Configuration(s).
     //
     // \note OSI uses singular instead of plural for repeated field names.
     //
-    repeated LidarSensorViewConfiguration lidar_sensor_view_configuration = 1001;
+    repeated LidarSensorViewConfiguration lidar_sensor_view_configuration = 1002;
 
     // Camera-specific SensorView Configuration(s).
     //
     // \note OSI uses singular instead of plural for repeated field names.
     //
-    repeated CameraSensorViewConfiguration camera_sensor_view_configuration = 1002;
+    repeated CameraSensorViewConfiguration camera_sensor_view_configuration = 1003;
 
     // Ultrasonic-specific SensorView Configuration(s).
     //
     // \note OSI uses singular instead of plural for repeated field names.
     //
-    repeated UltrasonicSensorViewConfiguration ultrasonic_sensor_view_configuration = 1003;
+    repeated UltrasonicSensorViewConfiguration ultrasonic_sensor_view_configuration = 1004;
+}
+
+//
+// \brief The configuration settings for the Generic Sensor View to be provided
+// by the environment simulation.
+//
+message GenericSensorViewConfiguration
+{
+    // The ID of the sensor at host vehicle's mounting_position.
+    //
+    // This is the ID of the physical sensor, to be used in its detected
+    // features output; it is distinct from the ID of its virtual sensor.
+    //
+    // The ID is to be provided by the environment simulation, the sensor
+    // model is not in a position to provide a useful default value.
+    //
+    optional Identifier sensor_id = 1;
+
+    // The physical mounting position of the sensor (origin and orientation
+    // of the sensor coordinate system) given in vehicle coordinates [1].
+    // The physical position pertains to this detector individually, and
+    // governs the sensor-relative coordinates in features detected by this
+    // detector.
+    //
+    // \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:
+    // [1] DIN ISO 8855:2013-11
+    //
+    // \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.
+    // \note A default position can be provided by the sensor model (e.g. to
+    // indicate the position the model was validated for),
+    // but this is optional; the environment simulation must provide a valid
+    // mounting position (based on the vehicle configuration) when setting the
+    // view configuration.
+    //
+    optional MountingPosition mounting_position = 2;
+
+    // The root mean squared error of the mounting position.
+    //
+    optional MountingPosition mounting_position_rmse = 3;
+
+    // Field of View in horizontal orientation of the physical sensor.
+    //
+    // Viewing range: [-field_of_view_horizontal/2, field_of_view_horizontal/2]
+    // azimuth in the sensor frame as defined in \c Spherical3d.
+    //
+    // Unit: [rad]
+    optional double field_of_view_horizontal = 4;
+
+    // Field of View in vertical orientation of the physical sensor.
+    //
+    // Viewing range: [-field_of_view_vertical/2, field_of_view_vertical/2]
+    // elevation in the sensor frame at zero azimuth as defined in
+    // \c Spherical3d.
+    //
+    // Unit: [rad]
+    optional double field_of_view_vertical = 5;
+
+    // TBD: Generic sensor specific configuration.
 }
 
 //
@@ -257,6 +329,7 @@ message RadarSensorViewConfiguration
     //
     // Viewing range: [-field_of_view_horizontal/2, field_of_view_horizontal/2]
     // azimuth in the sensor frame as defined in \c Spherical3d.
+    //
     // Unit: [rad]
     optional double field_of_view_horizontal = 4;
 
@@ -388,6 +461,7 @@ message LidarSensorViewConfiguration
     //
     // Viewing range: [-field_of_view_horizontal/2, field_of_view_horizontal/2]
     // azimuth in the sensor frame as defined in \c Spherical3d.
+    //
     // Unit: [rad]
     optional double field_of_view_horizontal = 4;
 
@@ -483,6 +557,7 @@ message CameraSensorViewConfiguration
     //
     // Viewing range: [-field_of_view_horizontal/2, field_of_view_horizontal/2]
     // azimuth in the sensor frame as defined in \c Spherical3d.
+    //
     // Unit: [rad]
     optional double field_of_view_horizontal = 4;
 
@@ -520,6 +595,7 @@ message CameraSensorViewConfiguration
     // be one of the values the sensor model requested - or there
     // must be no value, indicating that the simulation environment
     // cannot provide image data in one of the requested formats.
+    //
     repeated ChannelFormat channel_format = 8;
 
     enum ChannelFormat {
@@ -639,6 +715,7 @@ message UltrasonicSensorViewConfiguration
     //
     // Viewing range: [-field_of_view_horizontal/2, field_of_view_horizontal/2]
     // azimuth in the sensor frame as defined in \c Spherical3d.
+    //
     // Unit: [rad]
     optional double field_of_view_horizontal = 4;