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ASAM OSI

    • 1 Introduction
      • 1.1 What has changed
      • 1.2 Deliverables
      • 1.3 ASAM OSI® repositories
      • 1.4 Normative and non-normative statements
      • 1.5 Conventions
      • 1.6 Versioning and compatibility
      • 1.7 Relationships with other standards
    • 2 Open Simulation Interface
      • 2.1 Idea behind Open Simulation Interface
      • 2.2 The basic design of OSI
        • 2.2.1 Overview of OSI architecture
        • 2.2.2 Top-level interfaces
          • 2.2.2.1 Ground truth
          • 2.2.2.2 Sensor view
          • 2.2.2.3 Sensor-view configuration
          • 2.2.2.4 Sensor data
          • 2.2.2.5 Host vehicle data
          • 2.2.2.6 Traffic command
          • 2.2.2.7 Traffic command update
          • 2.2.2.8 Motion Request
          • 2.2.2.9 Traffic update
          • 2.2.2.10 Streaming update
        • 2.2.3 Model types
          • 2.2.3.1 Environmental effect model
          • 2.2.3.2 Sensor model
          • 2.2.3.3 Logical model
          • 2.2.3.4 Traffic participant
            • 2.2.3.4.1 Modeling a traffic participant
        • 2.2.4 Coordinate systems and reference points
          • 2.2.4.1 Coordinate systems, reference points and coordinate transformation
          • 2.2.4.2 Coordinate transformations
        • 2.2.5 Layering
          • 2.2.5.1 Data layer
          • 2.2.5.2 Packaging layer
        • 2.2.6 OSI trace files
          • 2.2.6.1 OSI trace file formats
          • 2.2.6.2 OSI trace file naming conventions
          • 2.2.6.3 OSI trace file example
          • 2.2.6.4 Trace-file formatting script
      • 2.3 Setting up OSI
        • 2.3.1 Installing protobuf for static / dynamic linking
        • 2.3.2 Installing OSI for C++ on Linux
        • 2.3.3 Installing OSI for Python on Linux
        • 2.3.4 Installing OSI for C++ on Windows
        • 2.3.5 Installing OSI for Python on Windows
    • 3 OSI Sensor Model Packaging
      • 3.1 Introduction
      • 3.2 OSMP specification
        • 3.2.1 Model types
        • 3.2.2 Basic conventions
        • 3.2.3 Binary variables
        • 3.2.4 Sensor view inputs
        • 3.2.5 Sensor view input configuration
        • 3.2.6 Sensor view outputs
        • 3.2.7 Sensor data inputs
        • 3.2.8 Sensor data outputs
        • 3.2.9 Ground truth initialization parameters
        • 3.2.10 Traffic command inputs
        • 3.2.11 Traffic command update outputs
        • 3.2.12 Traffic update outputs
        • 3.2.13 Streaming update inputs
      • 3.3 Examples
        • 3.3.1 Building and installing examples
        • 3.3.2 Example: Simple sensor model FMU
    • 4 Contributing to ASAM OSI
      • 4.1 Getting started with contributing
      • 4.2 Reporting issues
      • 4.3 Contributing changes
        • 4.3.1 License
        • 4.3.2 Developer Certificate of Origin (DCO)
        • 4.3.3 Signing off commits
        • 4.3.4 Guidelines for writing commit messages
        • 4.3.5 Guidelines for contributions
        • 4.3.6 Interface conventions
        • 4.3.7 Branching workflow for member contributors
        • 4.3.8 Forking for non-member contributors
        • 4.3.9 Commenting on messages
        • 4.3.10 Commenting on fields and enums
        • 4.3.11 Guidelines for creating literary references
      • 4.4 Test scripts
      • 4.5 Reviewing contributions
        • 4.5.1 Review guidelines for authors
        • 4.5.2 Review guidelines for reviewers
    • Terms and definitions
    • Bibliography
    • Annex A: Release Notes
      • v3.7.0 - OSI "Jolly Jones"
      • v3.6.0 - OSI "Inspiring Irvine"
      • v3.5.0 - OSI "Hard-fighting Hunt"
      • v3.4.0 - OSI "Gallant Glock"
      • v3.3.1 - OSI "Fabulous Fangio", Update 1
      • v3.3.0 - OSI "Fabulous Fangio"
      • v3.2.0 - OSI "Editorial Eaton"
      • v3.1.2 - OSI "Dynamic Duncan", Update 2
      • v3.1.1 - OSI "Dynamic Duncan", Update 1
      • v3.1.0 - OSI "Dynamic Duncan"
      • v3.0.1 - OSI "Cosmic Coulthard", Update 1
      • v3.0.0 - OSI "Cosmic Coulthard"
      • v2.2.1 - OSI "Brave Brabham", Update 1
      • v2.2.0 - OSI "Brave Brabham"4
      • v2.1.0 - OSI "Agile Andretti"
      • v2.0.0 - OSI Initial Commit
    • open_simulation_interface
      • Open Simulation Interface (OSI)
      • Classes
        • Class List
          • osi3
            • BaseMoving
            • BaseStationary
            • BoundingBox
            • CameraDetection
            • CameraDetectionData
            • CameraDetectionSpecificHeader
            • CameraPoint
            • CameraSensorView
            • CameraSensorViewConfiguration
            • CameraSpecificObjectData
            • ColorCMYK
            • ColorDescription
            • ColorGrey
            • ColorHSV
            • ColorLUV
            • ColorRGB
            • ColorRGBIR
            • DetectedEntityHeader
            • DetectedItemHeader
            • DetectedLane
            • DetectedLaneBoundary
            • DetectedMovingObject
            • DetectedOccupant
            • DetectedRoadMarking
            • DetectedStationaryObject
            • DetectedTrafficLight
            • DetectedTrafficSign
            • Dimension3d
            • EnvironmentalConditions
            • ExternalReference
            • FeatureData
            • FileOptions
            • GenericSensorView
            • GenericSensorViewConfiguration
            • GeodeticPosition
            • GroundTruth
            • HostVehicleData
            • Identifier
            • InterfaceVersion
            • KeyValuePair
            • Lane
            • LaneBoundary
            • LidarDetection
            • LidarDetectionData
            • LidarSensorView
            • LidarSensorViewConfiguration
            • LidarSpecificObjectData
            • LogicalDetection
            • LogicalDetectionData
            • LogicalDetectionDataHeader
            • LogicalLane
            • LogicalLaneAssignment
            • LogicalLaneBoundary
            • MotionRequest
            • MountingPosition
            • MovingObject
            • Occupant
            • Orientation3d
            • Pedalry
            • Polygon3d
            • RadarDetection
            • RadarDetectionData
            • RadarSensorView
            • RadarSensorViewConfiguration
            • RadarSpecificObjectData
            • ReferenceLine
            • RoadMarking
            • Route
            • SensorData
            • SensorDataSeries
            • SensorDataSeriesList
            • SensorDetectionHeader
            • SensorView
            • SensorViewConfiguration
            • SpatialSignalStrength
            • Spherical3d
            • StatePoint
            • StationaryObject
            • StreamingUpdate
            • Timestamp
            • TrafficAction
            • TrafficCommand
            • TrafficCommandUpdate
            • TrafficLight
            • TrafficSign
            • TrafficSignValue
            • TrafficUpdate
            • UltrasonicDetection
            • UltrasonicDetectionData
            • UltrasonicDetectionSpecificHeader
            • UltrasonicIndirectDetection
            • UltrasonicSensorView
            • UltrasonicSensorViewConfiguration
            • UltrasonicSpecificObjectData
            • Vector2d
            • Vector3d
            • VehicleSteeringWheel
            • WavelengthData
        • Class Index
        • Class Hierarchy
          • osi3::TrafficAction::AbortActionsAction
          • osi3::TrafficAction::AcquireGlobalPositionAction
          • osi3::TrafficAction::ActionHeader
          • osi3::RadarSensorViewConfiguration::AntennaDiagramEntry
          • osi3::TrafficSign::SupplementarySign::Classification::Arrow
          • osi3::BaseMoving
          • osi3::BaseStationary
          • osi3::MovingObject::PedestrianAttributes::Bone
          • osi3::LaneBoundary::BoundaryPoint
          • osi3::BoundingBox
          • osi3::CameraDetection
          • osi3::CameraDetectionData
          • osi3::CameraDetectionSpecificHeader
          • osi3::CameraPoint
          • osi3::CameraSensorView
          • osi3::CameraSensorViewConfiguration
          • osi3::CameraSpecificObjectData
          • osi3::DetectedLane::CandidateLane
          • osi3::DetectedLaneBoundary::CandidateLaneBoundary
          • osi3::DetectedTrafficSign::DetectedMainSign::CandidateMainSign
          • osi3::DetectedMovingObject::CandidateMovingObject
          • osi3::DetectedOccupant::CandidateOccupant
          • osi3::DetectedRoadMarking::CandidateRoadMarking
          • osi3::DetectedStationaryObject::CandidateStationaryObject
          • osi3::DetectedTrafficSign::DetectedSupplementarySign::CandidateSupplementarySign
          • osi3::DetectedTrafficLight::CandidateTrafficLight
          • osi3::Lane::Classification
          • osi3::TrafficLight::Classification
          • osi3::TrafficSign::MainSign::Classification
          • osi3::TrafficSign::SupplementarySign::Classification
          • osi3::LaneBoundary::Classification
          • osi3::StationaryObject::Classification
          • osi3::Occupant::Classification
          • osi3::RoadMarking::Classification
          • osi3::EnvironmentalConditions::CloudLayer
          • osi3::ColorCMYK
          • osi3::ColorDescription
          • osi3::ColorGrey
          • osi3::ColorHSV
          • osi3::ColorLUV
          • osi3::ColorRGB
          • osi3::ColorRGBIR
          • osi3::TrafficAction::CustomAction
          • osi3::MotionRequest::DesiredState
          • osi3::MotionRequest::DesiredTrajectory
          • osi3::DetectedEntityHeader
          • osi3::DetectedItemHeader
          • osi3::DetectedLane
          • osi3::DetectedLaneBoundary
          • osi3::DetectedTrafficSign::DetectedMainSign
          • osi3::DetectedMovingObject
          • osi3::DetectedOccupant
          • osi3::DetectedRoadMarking
          • osi3::DetectedStationaryObject
          • osi3::DetectedTrafficSign::DetectedSupplementarySign
          • osi3::DetectedTrafficLight
          • osi3::DetectedTrafficSign
          • osi3::Dimension3d
          • osi3::TrafficCommandUpdate::DismissedAction
          • osi3::HostVehicleData::VehicleAutomatedDrivingFunction::DriverOverride
          • osi3::TrafficAction::DynamicConstraints
          • osi3::StationaryObject::Classification::EmittingStructureAttribute
          • osi3::TrafficAction::EndActionsAction
          • osi3::EnvironmentalConditions
          • osi3::ExternalReference
          • osi3::FeatureData
          • FileOptions
            • osi3::FileOptions
          • osi3::TrafficAction::FollowPathAction
          • osi3::TrafficAction::FollowTrajectoryAction
          • osi3::GenericSensorView
          • osi3::GenericSensorViewConfiguration
          • osi3::GeodeticPosition
          • osi3::GroundTruth
          • osi3::HostVehicleData
          • osi3::Identifier
          • osi3::InterfaceVersion
          • osi3::KeyValuePair
          • osi3::Lane
          • osi3::LaneBoundary
          • osi3::TrafficAction::LaneChangeAction
          • osi3::LogicalLane::LaneConnection
          • osi3::TrafficAction::LaneOffsetAction
          • osi3::Lane::Classification::LanePairing
          • osi3::LogicalLane::LaneRelation
          • osi3::TrafficAction::LateralDistanceAction
          • osi3::LidarDetection
          • osi3::LidarDetectionData
          • osi3::LidarSensorView
          • osi3::LidarSensorViewConfiguration
          • osi3::LidarSpecificObjectData
          • osi3::MovingObject::VehicleClassification::LightState
          • osi3::LogicalLaneBoundary::LogicalBoundaryPoint
          • osi3::LogicalDetection
          • osi3::LogicalDetectionData
          • osi3::LogicalDetectionDataHeader
          • osi3::LogicalLane
          • osi3::LogicalLaneAssignment
          • osi3::LogicalLaneBoundary
          • osi3::Route::LogicalLaneSegment
          • osi3::TrafficAction::LongitudinalDistanceAction
          • osi3::TrafficSign::MainSign
          • osi3::MotionRequest
          • osi3::HostVehicleData::VehiclePowertrain::Motor
          • osi3::MountingPosition
          • osi3::MovingObject
          • osi3::MovingObject::MovingObjectClassification
          • osi3::Occupant
          • osi3::Orientation3d
          • osi3::Pedalry
          • osi3::MovingObject::PedestrianAttributes
          • osi3::LogicalLane::PhysicalLaneReference
          • osi3::Polygon3d
          • osi3::GroundTruth::ProjFrameOffset
          • osi3::RadarDetection
          • osi3::RadarDetectionData
          • osi3::RadarSensorView
          • osi3::RadarSensorViewConfiguration
          • osi3::RadarSpecificObjectData
          • osi3::ReferenceLine
          • osi3::ReferenceLine::ReferenceLinePoint
          • osi3::RadarSensorView::Reflection
          • osi3::LidarSensorView::Reflection
          • osi3::Lane::Classification::RoadCondition
          • osi3::RoadMarking
          • osi3::Route
          • osi3::Route::RouteSegment
          • osi3::SensorData
          • osi3::SensorDataSeries
          • osi3::SensorDataSeriesList
          • osi3::SensorDetectionHeader
          • osi3::SensorView
          • osi3::SensorViewConfiguration
          • osi3::UltrasonicSpecificObjectData::Signalway
          • osi3::SpatialSignalStrength
          • osi3::TrafficAction::SpeedAction
          • osi3::LogicalLane::TrafficRule::SpeedLimit
          • osi3::Spherical3d
          • osi3::StatePoint
          • osi3::StationaryObject
          • osi3::StreamingUpdate
          • osi3::EnvironmentalConditions::Sun
          • osi3::TrafficSign::SupplementarySign
          • osi3::TrafficAction::TeleportAction
          • osi3::EnvironmentalConditions::TimeOfDay
          • osi3::Timestamp
          • osi3::TrafficAction
          • osi3::TrafficCommand
          • osi3::TrafficCommandUpdate
          • osi3::TrafficLight
          • osi3::LogicalLane::TrafficRule
          • osi3::LogicalLane::TrafficRule::TrafficRuleValidity
          • osi3::TrafficSign
          • osi3::TrafficSignValue
          • osi3::TrafficUpdate
          • osi3::LogicalLane::TrafficRule::TrafficRuleValidity::TypeValidity
          • osi3::UltrasonicDetection
          • osi3::UltrasonicDetectionData
          • osi3::UltrasonicDetectionSpecificHeader
          • osi3::UltrasonicIndirectDetection
          • osi3::UltrasonicSensorView
          • osi3::UltrasonicSensorViewConfiguration
          • osi3::UltrasonicSpecificObjectData
          • osi3::Vector2d
          • osi3::Vector3d
          • osi3::MovingObject::VehicleAttributes
          • osi3::HostVehicleData::VehicleAutomatedDrivingFunction
          • osi3::HostVehicleData::VehicleBasics
          • osi3::HostVehicleData::VehicleBrakeSystem
          • osi3::MovingObject::VehicleClassification
          • osi3::HostVehicleData::VehicleLocalization
          • osi3::HostVehicleData::VehicleMotion
          • osi3::HostVehicleData::VehiclePowertrain
          • osi3::HostVehicleData::VehicleSteering
          • osi3::VehicleSteeringWheel
          • osi3::HostVehicleData::VehicleWheels
          • osi3::SensorData::VirtualDetectionArea
          • osi3::WavelengthData
          • osi3::MovingObject::VehicleAttributes::WheelData
          • osi3::HostVehicleData::VehicleWheels::WheelData
          • osi3::EnvironmentalConditions::Wind
        • Class Members
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          • Enumerations
          • Enumerator
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    • List of figures
    • List of tables
ASAM OSI current
  • ASAM OSI
    • V3.7.0-rc2
    • V3.7.0-rc1
    • V3.7.0
    • V3.6.0-rc1
    • V3.6.0
    • V3.5.0
    • V3.4.0
    • V3.3.0
    • current
  • ASAM OSI
  • 2 Open Simulation Interface
  • 2.2 The basic design of OSI
  • 2.2.2 Top-level interfaces
  • 2.2.2.1 Ground truth
V3.7.0-rc2 V3.7.0-rc1 V3.7.0 V3.6.0-rc1 V3.6.0 V3.5.0 V3.4.0 V3.3.0 current

2.2.2.1 Ground truth

GroundTruth messages describe the simulated environment containing all simulated objects in the global coordinate system at consecutive time instances. They are based on data available to the simulation environment. GroundTruth messages are typically contained in Sensorview messages.

For more details, see osi3::GroundTruth Struct Reference.

2.2.1 Overview of OSI architecture 2.2.2.2 Sensor view

This standard is licensed under the MPL v2.0.