osi3::SensorDetectionHeader Struct Reference

The header attributes of each sensor's detection list. More...

Collaboration diagram for osi3::SensorDetectionHeader:

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Public Types

enum	DataQualifier { DATA_QUALIFIER_UNKNOWN = 0, DATA_QUALIFIER_OTHER = 1, DATA_QUALIFIER_AVAILABLE = 2, DATA_QUALIFIER_AVAILABLE_REDUCED = 3, DATA_QUALIFIER_NOT_AVAILABLE = 4, DATA_QUALIFIER_BLINDNESS = 5, DATA_QUALIFIER_TEMPORARY_AVAILABLE = 6, DATA_QUALIFIER_INVALID = 7 }
	Data qualifier communicates the overall availability of the interface. More...

enum	ExtendedQualifier { EXTENDED_QUALIFIER_UNKNOWN = 0, EXTENDED_QUALIFIER_OTHER = 1, EXTENDED_QUALIFIER_NORMAL_OPERATION_MODE = 2, EXTENDED_QUALIFIER_POWER_UP_OR_DOWN = 3, EXTENDED_QUALIFIER_SENSOR_NOT_CALIBRATED = 4, EXTENDED_QUALIFIER_SENSOR_BLOCKED = 5, EXTENDED_QUALIFIER_SENSOR_MISALIGNED = 6, EXTENDED_QUALIFIER_BAD_SENSOR_ENVIRONMENTAL_CONDITION = 7, EXTENDED_QUALIFIER_REDUCED_FIELD_OF_VIEW = 8, EXTENDED_QUALIFIER_INPUT_NOT_AVAILABLE = 9, EXTENDED_QUALIFIER_INTERNAL_REASON = 10, EXTENDED_QUALIFIER_EXTERNAL_DISTURBANCE = 11, EXTENDED_QUALIFIER_BEGINNING_BLOCKAGE = 12 }
	The extended qualifier describes the reason (not the effect) why the event data qualifier, `data_qualifier`, is reduced or not available. More...

Public Attributes

optional Timestamp	measurement_time = 1
	Time stamp at which the measurement was taken (not the time at which it was processed or at which it is transmitted) in the global synchronized time. More...

optional uint64	cycle_counter = 2
	Monotonous counter to identify the exact cycle. More...

optional MountingPosition	mounting_position = 3
	Mounting position of the sensor (origin and orientation of the sensor frame). More...

optional MountingPosition	mounting_position_rmse = 4
	The origin/orientation of the sensor frame represents the current mounting pose to the best knowledge of the sensor. More...

optional DataQualifier	data_qualifier = 5
	Data Qualifier expresses to what extent the content of this event can be relied on. More...

optional uint32	number_of_valid_detections = 6
	The current number of valid detections in the detections list. More...

optional Identifier	sensor_id = 7
	The ID of the sensor at host vehicle's `mounting_position`. More...

optional ExtendedQualifier	extended_qualifier = 8
	The extended qualifier describes the reason (not the effect) why the event data qualifier, `data_qualifier`, is reduced or not available. More...

Detailed Description

The header attributes of each sensor's detection list.

Member Enumeration Documentation

◆ DataQualifier

enum osi3::SensorDetectionHeader::DataQualifier

Data qualifier communicates the overall availability of the interface.

Enumerator
DATA_QUALIFIER_UNKNOWN	Unknown (must not be used in ground truth).
DATA_QUALIFIER_OTHER	Other (unspecified but known).
DATA_QUALIFIER_AVAILABLE	Data is available.
DATA_QUALIFIER_AVAILABLE_REDUCED	Reduced data is available.
DATA_QUALIFIER_NOT_AVAILABLE	Data is not available.
DATA_QUALIFIER_BLINDNESS	Sensor is blind.
DATA_QUALIFIER_TEMPORARY_AVAILABLE	Sensor temporary available.
DATA_QUALIFIER_INVALID	Sensor invalid.

◆ ExtendedQualifier

enum osi3::SensorDetectionHeader::ExtendedQualifier

The extended qualifier describes the reason (not the effect) why the event data qualifier, data_qualifier, is reduced or not available.

Enumerator
EXTENDED_QUALIFIER_UNKNOWN	Unknown (must not be used in ground truth).
EXTENDED_QUALIFIER_OTHER	Other (unspecified but known).
EXTENDED_QUALIFIER_NORMAL_OPERATION_MODE	Normal operation mode.
EXTENDED_QUALIFIER_POWER_UP_OR_DOWN	Power up or down.
EXTENDED_QUALIFIER_SENSOR_NOT_CALIBRATED	Sensor not calibrated.
EXTENDED_QUALIFIER_SENSOR_BLOCKED	Sensor blocked.
EXTENDED_QUALIFIER_SENSOR_MISALIGNED	Sensor misaligned.
EXTENDED_QUALIFIER_BAD_SENSOR_ENVIRONMENTAL_CONDITION	Bad sensor environmental condition (e.g. Darkness for vision).
EXTENDED_QUALIFIER_REDUCED_FIELD_OF_VIEW	Reduced field of view.
EXTENDED_QUALIFIER_INPUT_NOT_AVAILABLE	Input not available.
EXTENDED_QUALIFIER_INTERNAL_REASON	Internal reason (e.g. an internal HW or SW error has occurred).
EXTENDED_QUALIFIER_EXTERNAL_DISTURBANCE	External disturbance, sensor specific for front radar (e.g. Interference of different radar sensors).
EXTENDED_QUALIFIER_BEGINNING_BLOCKAGE	Beginning blockage, sensor specific for front radar.

Member Data Documentation

◆ measurement_time

optional Timestamp osi3::SensorDetectionHeader::measurement_time = 1

Time stamp at which the measurement was taken (not the time at which it was processed or at which it is transmitted) in the global synchronized time.

Note: See SensorData::timestamp and SensorData::last_measurement_time for detailed discussions on the semantics of time-related fields.

◆ cycle_counter

optional uint64 osi3::SensorDetectionHeader::cycle_counter = 2

Monotonous counter to identify the exact cycle.

In general the detection function is called periodically and cycle_counter corresponds to the number of periods.

Rules: is_greater_than_or_equal_to: 0

◆ mounting_position

optional MountingPosition osi3::SensorDetectionHeader::mounting_position = 3

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 (see: MovingObject::Vehicle vehicle reference point) [1].

The sensor frame's x-axis is pointing in the central viewing direction of the sensor. It is the angle bisector of the sensor's horizontal and vertical field of view. The terms horizontal and vertical must be understood as names for the two principal planes of the sensor's field of view (relative to the sensor frame's orientation), which do not have to be horizontal or vertical in the strict sense of being parallel or perpendicular to the local gravitational vector. The horizontal field of view defines the sensor frame's xy-plane and the vertical field of view defines the xz-plane. The sensor frame is right-handed and the z-axis is pointing in an upward direction.

The sensor frame uses cartesian coordinates. The sensor frame's origin is identical to sensor detection frame's origin. Detections are defined in the sensor detection frame which uses e.g. spherical coordinates.

Reference:: [1] DIN Deutsches Institut fuer Normung e. V. (2013). DIN ISO 8855 Strassenfahrzeuge - Fahrzeugdynamik und Fahrverhalten - Begriffe. (DIN ISO 8855:2013-11). Berlin, Germany.

◆ mounting_position_rmse

optional MountingPosition osi3::SensorDetectionHeader::mounting_position_rmse = 4

The origin/orientation of the sensor frame represents the current mounting pose to the best knowledge of the sensor.

The estimation of the 6D pose given by the calibration. The uncertainty of this estimation is given with the corresponding 6D root mean squared error. The estimation of the current origin does not include effects due to short-time dynamics, such as pitch angles from braking, but includes long-time calibration values, such as pitch angles from luggage in the trunk.

◆ data_qualifier

optional DataQualifier osi3::SensorDetectionHeader::data_qualifier = 5

Data Qualifier expresses to what extent the content of this event can be relied on.

◆ number_of_valid_detections

optional uint32 osi3::SensorDetectionHeader::number_of_valid_detections = 6

The current number of valid detections in the detections list.

Note: This value has to be set if the list contains invalid detections.

Rules: is_greater_than_or_equal_to: 0

◆ sensor_id

optional Identifier osi3::SensorDetectionHeader::sensor_id = 7

The ID of the sensor at host vehicle's mounting_position.

This ID can equal SensorData::sensor_id, if SensorData holds only data from one sensor/sensor model.

◆ extended_qualifier

optional ExtendedQualifier osi3::SensorDetectionHeader::extended_qualifier = 8

The extended qualifier describes the reason (not the effect) why the event data qualifier, data_qualifier, is reduced or not available.

osi_featuredata.proto