2.2.6.3 OSI trace file example

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# generate_osi_messages.py
from osi3.osi_sensorview_pb2 import SensorView
import struct

NANO_INCREMENT = 10000000
MOVING_OBJECT_LENGTH = 5
MOVING_OBJECT_WIDTH = 2
MOVING_OBJECT_HEIGHT = 1

def main():
    """Initialize SensorView"""
    f = open("sv_330_361_1000_movingobject.osi", "ab")
    sensorview = SensorView()

    sv_ground_truth = sensorview.global_ground_truth
    sv_ground_truth.version.version_major = 3
    sv_ground_truth.version.version_minor = 5
    sv_ground_truth.version.version_patch = 0

    sv_ground_truth.timestamp.seconds = 0
    sv_ground_truth.timestamp.nanos = 0

    moving_object = sv_ground_truth.moving_object.add()
    moving_object.id.value = 42

    # Generate 1000 OSI messages for a duration of 10 seconds
    for i in range(1000):

        # Increment the time
        if sv_ground_truth.timestamp.nanos > 1000000000:
            sv_ground_truth.timestamp.seconds += 1
            sv_ground_truth.timestamp.nanos = 0
        sv_ground_truth.timestamp.nanos += NANO_INCREMENT

        moving_object.vehicle_classification.type = 2

        moving_object.base.dimension.length = MOVING_OBJECT_LENGTH
        moving_object.base.dimension.width = MOVING_OBJECT_WIDTH
        moving_object.base.dimension.height = MOVING_OBJECT_HEIGHT

        moving_object.base.position.x += 0.5
        moving_object.base.position.y = 0.0
        moving_object.base.position.z = 0.0

        moving_object.base.orientation.roll = 0.0
        moving_object.base.orientation.pitch = 0.0
        moving_object.base.orientation.yaw = 0.0

        """Serialize"""
        bytes_buffer = sensorview.SerializeToString()
        f.write(struct.pack("<L", len(bytes_buffer)))
        f.write(bytes_buffer)

    f.close()

if __name__ == "__main__":
    main()

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python3 generate_osi_messages.py

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