osi_sensorview.proto

syntax = "proto2";

option optimize_for = SPEED;

import "osi_version.proto";
import "osi_common.proto";
import "osi_groundtruth.proto";
import "osi_sensorviewconfiguration.proto";
import "osi_hostvehicledata.proto";

package osi3;

//
// \brief The sensor view is derived from \c GroundTruth and used as
// input to sensor models.
//
// The sensor view information is supposed to provide input to sensor
// models for simulation of actual real sensors.
// All information regarding the environment is given with respect to
// the virtual sensor coordinate system specified in
// \c SensorView::mounting_position, except for the individual physical
// technology-specific data, which is given with respect to the physical
// sensor coordinate system specified in the corresponding physical sensor's
// \c #mounting_position, and the \c #global_ground_truth, which is given in
// global coordinates.
//
// When simulating multiple distinct sensors, each sensor can consume an
// individual copy of the \c SensorView interface. This allows an independent
// treatment of the sensors.
//
// Alternatively combined sensor models can also consume one combined
// \c SensorView, with either combined or separate \c SensorData outputs,
// depending on model architecture.
//
message SensorView
{
    // The interface version used by the sender (simulation environment).
    //
    // \rules
    // is_set
    // \endrules
    //
    optional InterfaceVersion version = 1;

    // The data timestamp of the simulation environment. Zero time is arbitrary
    // but must be identical for all messages. Zero time does not need to
    // coincide with the UNIX epoch. Recommended is the starting time point of
    // the simulation.
    //
    // \note For sensor view data this timestamp coincides both with the
    // notional simulation time the data applies to and the time it was sent
    // (there is no inherent latency for sensor view data, as opposed to
    // sensor data).
    //
    // \rules
    // is_set
    // \endrules
    //
    optional Timestamp timestamp = 2;

    // The ID of the sensor at host vehicle's \c #mounting_position.
    //
    // This is the ID of the virtual sensor, to be used in its detected
    // object output; it is distinct from the IDs of its physical detectors,
    // which are used in the detected features.
    //
    // \rules
    // is_set
    // \endrules
    //
    optional Identifier sensor_id = 3;

    // 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)
    // \arg \b y-direction of sensor coordinate system: perpendicular to x and z
    // right hand system
    //
    // \par Reference:
    // [1] DIN Deutsches Institut fuer Normung e. V. (2013). <em>DIN ISO 8855 Strassenfahrzeuge - Fahrzeugdynamik und Fahrverhalten - Begriffe</em>. (DIN ISO 8855:2013-11). Berlin, Germany.
    //
    // \note This field is usually static during the simulation.
    // \note The origin of vehicle's coordinate system in world frame is
    // ( \c MovingObject::base . \c BaseMoving::position +
    // Inverse_Rotation_yaw_pitch_roll( \c MovingObject::base . \c
    // BaseMoving::orientation) * \c
    // MovingObject::VehicleAttributes::bbcenter_to_rear) . The orientation of
    // the vehicle's coordinate system is equal to the orientation of the
    // vehicle's bounding box \c MovingObject::base . \c
    // BaseMoving::orientation.
    //
    // \rules
    // is_set
    // \endrules
    //
    optional MountingPosition mounting_position = 4;

    // The root mean squared error of the mounting position.
    //
    optional MountingPosition mounting_position_rmse = 5;

    // Host vehicle data.
    //
    // Host vehicle data is data that the host vehicle knows about itself,
    // e.g. from location sensors, internal sensors and ECU bus data, etc.,
    // that is made available to sensors as input.
    //
    optional HostVehicleData host_vehicle_data = 6;

    // Ground truth w.r.t. global coordinate system.
    //
    // This is the ground truth that is provided to the sensor model by the
    // simulation environment. It may be filtered as per the requirements of
    // the sensor model as expressed by the \c SensorViewConfiguration
    // message(s) that where exchanged during the simulation initialization
    // phase.
    //
    // \note The host vehicle is always contained in the ground truth provided,
    // regardless of any filtering. The ground truth MUST contain at least as
    // much of the ground truth data, as is requested by the sensor model, but
    // MAY always contain more data, since the filtering is intended only as
    // an optimization mechanism, not as a replacement of a proper sensor
    // field of view modeling.
    //
    optional GroundTruth global_ground_truth = 7;

    // The ID of the host vehicle in the \c #global_ground_truth data.
    //
    // \rules
    // refers_to: 'MovingObject'
    // is_set
    // \endrules
    //
    optional Identifier host_vehicle_id = 8;

    // Generic SensorView(s).
    //
    repeated GenericSensorView generic_sensor_view = 1000;

    // Radar-specific SensorView(s).
    //
    repeated RadarSensorView radar_sensor_view = 1001;

    // Lidar-specific SensorView(s).
    //
    repeated LidarSensorView lidar_sensor_view = 1002;

    // Camera-specific SensorView(s).
    //
    repeated CameraSensorView camera_sensor_view = 1003;

    // Ultrasonic-specific SensorView(s).
    //
    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;
}

//
// \brief Definition of the radar sensor view.
//
// Radar specific sensor view data.
//
message RadarSensorView
{
    // Radar view configuration valid at the time the data was created.
    //
    optional RadarSensorViewConfiguration view_configuration = 1;

    // Ray tracing data.
    //
    // This field includes one entry for each ray, in left-to-right,
    // top-to-bottom order (think of scan lines in a TV).
    //
    repeated Reflection reflection = 2;

    //
    // \brief Definition of the radar reflection.
    //
    message Reflection
    {
        // Relative signal level of the reflection.
        //
        // This takes the combined antenna diagram (losses in TX and RX)
        // as well as the signal losses due to scattering and absorption
        // into account, and will, when multiplied by TX power yield the
        // actual RX power.
        //
        // Unit: dB
        //
        optional double signal_strength = 1;

        // Time of flight.
        //
        // This is the time of flight of the reflection, which is directly
        // proportional to the distance traveled.
        //
        // Unit: s
        //
        optional double time_of_flight = 2;

        // Doppler shift.
        //
        // Shift in frequency based on the specified TX frequency.
        //
        // Unit: Hz
        //
        optional double doppler_shift = 3;

        // TX horizontal angle (azimuth).
        //
        // Horizontal angle of incidence of the source of the reflection
        // at the TX antenna.
        //
        // Unit: rad
        //
        optional double source_horizontal_angle = 4;

        // TX vertical angle (elevation).
        //
        // Vertical angle of incidence of the source of the reflection
        // at the TX antenna.
        //
        // Unit: rad
        //
        optional double source_vertical_angle = 5;
    }
}

//
// \brief Definition of the lidar sensor view.
//
// Lidar specific sensor view data.
//
message LidarSensorView
{
    // Lidar view configuration valid at the time the data was created.
    //
    optional LidarSensorViewConfiguration view_configuration = 1;

    // Ray tracing data.
    //
    // This field includes one entry for each ray, in left-to-right,
    // top-to-bottom order (think of scan lines in a TV).
    //
    repeated Reflection reflection = 2;

    //
    // \brief Definition of the lidar reflection.
    //
    message Reflection
    {
        // Relative signal level of the reflection.
        //
        // This takes the signal losses due to scattering and absorption
        // into account, and will, when multiplied by TX power yield the
        // potential RX power (disregarding any other RX/TX losses).
        //
        // Unit: dB
        //
        optional double signal_strength = 1;

        // Time of flight.
        //
        // This is the time of flight of the reflection, which is directly
        // proportional to the distance traveled.
        //
        // Unit: s
        //
        optional double time_of_flight = 2;

        // Doppler shift.
        //
        // Shift in frequency based on the specified TX frequency.
        //
        // Unit: Hz
        //
        optional double doppler_shift = 3;

        // normal to surface angle.
        //
        // The normal of the transmitted beam to the object, road marking, etc.
        // encounter. \note data is in Lidar coordinate system
        //
        // Unit: unit vector
        //
        optional Vector3d normal_to_surface = 5;

        // ID of the detected object this reflection is associated to.
        // can be used for ray tracing debug
        //
        // \note ID = MAX(uint64) indicates no reference to an object.
        optional Identifier object_id = 6;
    }
}

//
// \brief Definition of the camera sensor view.
//
// Camera specific sensor view data.
//
message CameraSensorView
{
    // Camera view configuration valid at the time the data was created.
    //
    optional CameraSensorViewConfiguration view_configuration = 1;

    // Raw image data.
    //
    // The raw image data in the memory layout specified by the camera    
    // sensor input configuration. The pixel order is specified in 
    // CameraSensorViewConfiguration.pixel_order with the 
    // default value PIXEL_ORDER_DEFAULT (i.e. left-to-right, top-to-bottom).
    //
    optional bytes image_data = 2;
}

//
// \brief Definition of the ultrasonic sensor view.
//
// Ultrasonic specific sensor view data.
//
message UltrasonicSensorView
{
    // Ultrasonic view configuration valid at the time the data was created.
    //
    optional UltrasonicSensorViewConfiguration view_configuration = 1;
}