osi3::GroundTruth Struct Reference

The interface version used by the sender (i.e.

the simulation environment).

The data timestamp of the simulation environment.

The zero time point is arbitrary but must be identical for all messages. Recommendation: Zero time point for start point of the simulation.

Note

Zero time point does not need to coincide with the UNIX epoch.

For ground truth 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 ground truth data, as opposed to sensor data).

The ID of the host vehicle object referencing to MovingObject .

Note

This ID has to be filled and is not optional!

Rules

refers_to: MovingObject

The list of stationary objects (excluding traffic signs and traffic lights).

The list of all other moving objects including all (host) vehicles.

The list of traffic signs.

The list of traffic lights.

The list of road surface markings (lane markings are excluded and defined as LaneBoundary).

The list of lane boundaries.

The list of lanes forming a road network.

The list of passengers in the (host) vehicle(s).

Conditions of the environment.

The ISO country code in 3 digit numeric format according to: ISO Code 3166/1 [1].

E.g. Germany = 276, USA = 840.

Reference:

[1] ISO International Organization for Standardization. (2013). ISO 3166-1 Codes for the representation of names of countries and their subdivisions - Part 1: Country codes. (ISO 3166-1:2013). Geneva, Switzerland.

Rules

is_iso_country_code:

Projection string that allows to transform all coordinates in GroundTruth into a different cartographic projection.

The string follows the PROJ rules for projections [1].

Reference:

[1] PROJ contributors. (2019). PROJ coordinate transformation software library. Open Source Geospatial Foundation. Retrieved January 25, 2019, from https://proj.org/usage/projections.html

Opaque reference of a map.

Note

Origin and orientation of the map have to coincide with the inertial coordinate frame of the ground truth.

It is implementation-specific how map_reference is resolved.

Opaque reference of an associated 3D model.

The model covers the static parts of the environment that are not provided as individual models referenced from ground truth objects like moving or stationary objects.

Note

Origin and orientation of the model have to coincide with the inertial coordinate frame of the ground truth.

It is implementation-specific how model_references are resolved to 3d models. The parts the world model contains are also implementation-specific. For example, the world model can either contain street geometries or derives street geometries automatically from a map reference.

Reference lines used by LogicalLane.

Logical lane boundaries used by LogicalLane.

Logical lanes used e.g.

by traffic agents