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LukasElsterpmai
LukasElster
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First version of RaytracerView/Config
Signed-off-by: @lukas.elster <lukas.elster@tu-darmstadt.de>
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‎osi_sensorview.proto

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@@ -163,6 +163,10 @@ message SensorView
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// Ultrasonic-specific SensorView(s).
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//
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repeated UltrasonicSensorView ultrasonic_sensor_view = 1004;
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// Raytracer-specific View(s).
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//
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repeated RaytracerView raytarcer_view = 1005;
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}
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//
@@ -347,3 +351,44 @@ message UltrasonicSensorView
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//
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optional UltrasonicSensorViewConfiguration view_configuration = 1;
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}
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//
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// \brief Definition of the raytracer view.
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//
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// Raytracer specific view data.
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//
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message RaytracerView
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{
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// Raytracer view configuration valid at the time the data was created.
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//
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optional RaytracerViewConfiguration view_configuration = 1;
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// Raw raytracer data.
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//
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// The raw raytracer data in the memory layout and order specified by the
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// raytracer input configuration.
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//
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optional bytes raytarcer_data = 2;
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// Device type defines the device where the data is located.
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//
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optional DeviceType device_type = 3;
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// Enum consits of different predefined device types.
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//
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enum DeviceType
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{
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// Type of device type is unknown (must not be used).
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//
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DEVICE_TYPE_UNKNOWN = 0;
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// The data is located on the GPU.
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//
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DEVICE_TYPE_GPU = 1;
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// The data is located on the CPU.
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//
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DEVICE_TYPE_CPU = 2;
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}
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}

‎osi_sensorviewconfiguration.proto

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@@ -236,6 +236,11 @@ message SensorViewConfiguration
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//
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repeated UltrasonicSensorViewConfiguration
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ultrasonic_sensor_view_configuration = 1004;
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// Raytracer-specific View Configuration(s).
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//
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repeated RaytracerViewConfiguration
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raytracer_view_configuration = 1005;
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}
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//
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// TBD: Ultrasonic Sensor specific configuration.
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//
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}
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//
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// \brief The configuration settings for the Raytracer View to be
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// provided by the environment simulation.
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//
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message RaytracerViewConfiguration
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{
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// The ID of the sensor origin at host vehicle's mounting_position.
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//
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// This is the ID of the simulated sensor, to be used in its detected
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// features output.
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//
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// The ID is to be provided by the environment simulation, the sensor
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// model is not in a position to provide a useful default value.
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//
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optional Identifier sensor_id = 1;
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// The physical mounting position of the sensor (origin and orientation
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// of the sensor coordinate system) given in vehicle coordinates [1].
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// The physical position pertains to this detector individually, and
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// governs the sensor-relative coordinates in features detected by this
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// detector.
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//
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// \arg \b x-direction of sensor coordinate system: sensor viewing direction
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// \arg \b z-direction of sensor coordinate system: sensor (up)
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// \arg \b y-direction of sensor coordinate system: perpendicular to x and z
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// right hand system
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//
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// \par Reference:
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// [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.
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//
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// \note The origin of vehicle's coordinate system in world frame is
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// ( \c MovingObject::base . \c BaseMoving::position +
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// Inverse_Rotation_yaw_pitch_roll( \c MovingObject::base . \c
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// BaseMoving::orientation) * \c
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// MovingObject::VehicleAttributes::bbcenter_to_rear) . The orientation of
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// the vehicle's coordinate system is equal to the orientation of the
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// vehicle's bounding box \c MovingObject::base . \c
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// BaseMoving::orientation. \note A default position can be provided by the
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// sensor model (e.g. to indicate the position the model was validated for),
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// but this is optional; the environment simulation must provide a valid
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// mounting position (based on the vehicle configuration) when setting the
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// view configuration.
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//
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// All raytracing results e.g. Hitpoint positions are given in this
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// sensor coordinate system.
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//
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optional MountingPosition mounting_position = 2;
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// Position of the raytracer`s receiver in the sensor coordinate system.
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//
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repeated MountingPosition receiver_position = 3;
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// Position of the raytracer`s transmitter in the sensor coordinate system.
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//
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repeated MountingPosition transmitter_position = 4;
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// The wavelength of the transmitted ray in the simulation.
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//
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// Unit: nm
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optional double emitter_wavelength = 5;
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// When reaching the maximmum signal loss during raytracing further raytracing is aborted.
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// The maximum signal loss is the relation between current calculated signal strength and the emitted signal
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// strength at the ray generation.
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//
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// Unit: dB
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optional double maximum_signal_loss = 6;
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// The maximum path length desribes the ray's maximum overall distance.
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// If the maximum path length is reached during simulation no further interaction is calculated.
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//
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// Unit: m
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optional double max_path_length = 7;
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// The maximum number of interaction desribes the ray's maximum hits with surfaces.
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// If the maximum number of interaction is reached during simulation no further interaction is calculated.
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//
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// Unit: -
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optional uint32 max_number_of_interactions = 8;
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// Format of raytracer data (includes number, kind and format of channels).
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//
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// In the message provided by the sensor model, this field can
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// be repeated and all values are acceptable to the model, with
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// the most acceptable value being listed first, and the remaining
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// values indicating alternatives in descending order of preference.
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//
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// In the message provided to the sensor model, this field must
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// contain exactly one value, indicating the format of the image
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// data being provided by the simulation environment - which must
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// be one of the values the sensor model requested - or there
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// must be no value, indicating that the simulation environment
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// cannot provide raytracer data in one of the requested formats.
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//
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repeated RaytracerFormat raytracer_format = 9;
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// Different predefined raytracer formats
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//
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enum RaytracerFormat
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{
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// Type of channel format is unknown (must not be used).
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//
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RAYTRACER_FORMAT_UNKNOWN = 0;
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// Unspecified but known channel format.
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// Consider proposing an additional format if using
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// \c #RAYTRACER_FORMAT_OTHER.
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//
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RAYTRACER_FORMAT_OTHER = 1;
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// Radar raytracer format used in the Japanese DIVP project.
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//
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// The message consists of the following fields in the described order.
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// In brackets the data type, the unit and a short description is given.
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// distance (float; in m; path length of the ray)
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// relative_speed (float; in m/s; summed relative speed due to interaction points with moved surfaces)
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// propagation_attenuation_h_pol (float; in W; attenuation of signal strength of horizontal polarisation)
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// propagation_attenuation_v_pol (float; in W; attenuation of signal strength of vertical polarisation)
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// direction_of_arrival_azimuth (float; in rad; direction of arrival of the ray in the configured raytracer coordinate system in azimuth direction)
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// direction_of_arrival_elevation (float; in rad; direction of arrival of the ray in the configured raytracer coordinate system in elevation direction)
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// direction_of_departure_azimuth (float; in rad; direction of departure of the ray in the configured raytracer coordinate system in azimuth direction)
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// direction_of_departure_elevation (float; in rad; direction of departure of the ray in the configured raytracer coordinate system in elevation direction)
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//
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RAYTRACER_FORMAT_DIVP_RADAR = 2;
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// Radar raytracer format used in the German VIVALDI project.
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//
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// The message consists of the following fields in the described order.
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// In brackets the data type, the unit and a short description is given.
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// intersection_path_length (float; in m; path length of the ray between the First_Hitpoint and the Last_Hitpoint)
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// relative_speed (float; in m/s; summed relative speed due to interaction points with moved surfaces)
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// jones_vector (float4; in V/m; jones vector of the ray with information of the electromagnetic wave`s phase, signal strength and polarisation)
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// last_hitpoint (float3; in m; coordinates of the last hitpoint in the raytracer's coordinate system defined by the mounting position)
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// first_hitpoint (float3; in m; coordinates of the first hitpoint in the raytracer's coordinate system defined by the mounting position)
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//
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RAYTRACER_FORMAT_VIVALDI_RADAR = 3;
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}
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}

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