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osi_logicaldetectiondata.proto
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osi_logicaldetectiondata.proto
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syntax = "proto2";
option optimize_for = SPEED;
import "osi_version.proto";
import "osi_common.proto";
package osi3;
//
// \brief Processed data from one or multiple sensors as a list of logical detections.
// Logical detections are derived from sensor detections in a logical model through processing steps like fusion filtering, tracking etc.
//
// All information is 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) in Cartesian coordinates.
//
message LogicalDetectionData
{
// The interface version used by the sender (i.e. the simulation
// environment).
//
optional InterfaceVersion version = 1;
// Header attributes of fused detections from multiple sensors and sensor types.
//
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)
//
repeated LogicalDetection logical_detection = 3;
}
//
// \brief The header attributes of each sensor's logical detections list.
//
message LogicalDetectionDataHeader
{
// Time stamp at which the transformation and optional fusion was finished in the global synchronized time.
//
// \note See \c SensorData::timestamp and
// \c SensorData::last_measurement_time for detailed discussions on the
// semantics of time-related fields.
//
optional Timestamp logical_detection_time = 1;
// Data Qualifier expresses to what extent the content of this event can be
// relied on.
//
optional DataQualifier data_qualifier = 2;
// The current number of valid detections in the logical detections list.
//
// \note This value has to be set if the list contains invalid logical detections.
//
// \rules
// is_greater_than_or_equal_to: 0
// \endrules
//
optional uint32 number_of_valid_logical_detections = 3;
// The ID(s) of the sensor(s) that produced the detections for transformation
// and - in case of multiple sensors - fusion into logical detections.
//
repeated Identifier sensor_id = 4;
// Data qualifier communicates the overall availability of the
// interface.
//
enum DataQualifier
{
// Unknown (must not be used in ground truth).
//
DATA_QUALIFIER_UNKNOWN = 0;
// Other (unspecified but known).
//
DATA_QUALIFIER_OTHER = 1;
// Data is available.
//
DATA_QUALIFIER_AVAILABLE = 2;
// Reduced data is available.
//
DATA_QUALIFIER_AVAILABLE_REDUCED = 3;
// Data is not available.
//
DATA_QUALIFIER_NOT_AVAILABLE = 4;
// Sensor is blind.
//
DATA_QUALIFIER_BLINDNESS = 5;
// Sensor temporary available.
//
DATA_QUALIFIER_TEMPORARY_AVAILABLE = 6;
// Sensor invalid.
//
DATA_QUALIFIER_INVALID = 7;
}
}
//
// \brief A logical detection that could be based on multiple sensors and sensor types.
//
message LogicalDetection
{
// Existence probability of the logical detection
//
// \note Use as confidence measure where a low value means less confidence
// and a high value indicates strong confidence.
//
// \rules
// is_greater_than_or_equal_to: 0
// is_less_than_or_equal_to: 1
// \endrules
//
optional double existence_probability = 1;
// ID of the detected object this logical detection is associated to.
//
// \note ID = MAX(uint64) indicates no reference to an object.
//
// \rules
// refers_to: DetectedObject
// \endrules
//
optional Identifier object_id = 2;
// Measured position of the logical detection given in cartesian coordinates in the
// host vehicle coordinate system.
//
// Unit: m
//
optional Vector3d position = 3;
// Root mean squared error of the measured position of the logical detection.
//
optional Vector3d position_rmse = 4;
// Velocity of the logical detection given in cartesian coordinates in the
// host vehicle coordinate system.
//
// Unit: m/s
//
optional Vector3d velocity = 5;
// Root mean squared error of the logical detection's velocity.
//
// Unit: m/s
//
// \rules
// is_greater_than_or_equal_to: 0
// \endrules
//
optional Vector3d velocity_rmse = 6;
// Intensity or equivalent value of the logical detection's echo.
//
// Unit: %
//
// \rules
// is_greater_than_or_equal_to: 0
// is_less_than_or_equal_to: 100
// \endrules
//
optional double intensity = 7;
// The signal to noise ratio (SNR) of the logical detection.
//
// Unit: dB
//
optional double snr = 8;
// Describes the possibility whether more than one object may have led to
// this logical detection.
//
// \rules
// is_greater_than_or_equal_to: 0
// is_less_than_or_equal_to: 1
// \endrules
//
optional double point_target_probability = 9;
// The ID(s) of the sensor(s) that produced the detection(s) for transformation
// and - in case of multiple sensors - fusion into the single logical detection.
//
// \note One logical detection can originate from multiple sensors.
//
repeated Identifier sensor_id = 10;
// Basic classification of the logical detection.
//
optional LogicalDetectionClassification classification = 11;
}
// Definition of basic logical detection classifications.
//
enum LogicalDetectionClassification
{
// Logical detection is unknown (must not be used in ground truth).
//
LOGICAL_DETECTION_CLASSIFICATION_UNKNOWN = 0;
// Other (unspecified but known) logical detection.
//
LOGICAL_DETECTION_CLASSIFICATION_OTHER = 1;
// Invalid logical detection, not to be used for object tracking, of unspecified
// type (none of the other types applies).
//
LOGICAL_DETECTION_CLASSIFICATION_INVALID = 2;
// Clutter (noise, spray, rain, fog etc.).
//
LOGICAL_DETECTION_CLASSIFICATION_CLUTTER = 3;
// Over-drivable (ground etc.).
//
LOGICAL_DETECTION_CLASSIFICATION_OVERDRIVABLE = 4;
// Under-drivable (sign gantry etc.).
//
LOGICAL_DETECTION_CLASSIFICATION_UNDERDRIVABLE = 5;
}