From 0f8f8e79427774e97f0cd2c3bf08c3b29d9392d0 Mon Sep 17 00:00:00 2001 From: carsten-kuebler <32508295+carsten-kuebler@users.noreply.github.com> Date: Tue, 27 Mar 2018 18:14:02 +0200 Subject: [PATCH 1/4] Extend definition of vehicles --- osi_object.proto | 78 +++++++++++++++++++++++++++++++++++++++++++----- 1 file changed, 71 insertions(+), 7 deletions(-) diff --git a/osi_object.proto b/osi_object.proto index 36ab52a16..41d205a6f 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -34,6 +34,8 @@ message Vehicle // The base parameters of the vehicle (as a characteristic moving object). // + // \note The bounding box includes mirrors. + // optional BaseMoving base = 2; // The type of the vehicle. @@ -86,6 +88,10 @@ message Vehicle // approximate the clear area under a vehicle that a sensor can see // through. optional double ground_clearance = 12; + + // Median radius of the wheels. + // + optional double radius_wheel = 13; // Definition of vehicle types. // @@ -99,13 +105,47 @@ message Vehicle // TYPE_OTHER = 1; - // Vehicle is a normal car. + // Vehicle is a small car. + // + // Definition: + // + TYPE_SMALL_CAR = 2; + + // Vehicle is a medium car. + // + // Definition: + // + TYPE_MEDIUM_CAR = 1000; + + // Vehicle is a compact car. + // + // Definition: + // + TYPE_COMPACT_CAR = 1001; + + // Vehicle is a luxury car. + // + // Definition: // - TYPE_CAR = 2; + TYPE_LUXURY_CAR = 1002; - // Vehicle is a truck, bus, or large van. + // Vehicle is a delivery van. + // + // Definition: + // + TYPE_DELIVERY_VAN = 1003; + + // Vehicle is a heavy truck, bus, or large van. // TYPE_TRUCK = 3; + + // Vehicle is a truck with semitrailer. + // + TYPE_TRUCK_SEMITRAILER = 1004; + + // Vehicle is a trailer (possibly attached to another vehicle). + // + TYPE_TRAILER = 6; // Vehicle is a motorbike or moped. // @@ -114,10 +154,6 @@ message Vehicle // Vehicle is a bicycle (without motor and specific lights). // TYPE_BICYCLE = 5; - - // Vehicle is a trailer (possibly attached to another vehicle). - // - TYPE_TRAILER = 6; } // @@ -327,5 +363,33 @@ message StationaryObject // Object is a delineator (e.g. at a construction site). // TYPE_DELINEATOR = 6; + + // Object is a pole. + // + TYPE_POLE = 2000; + + // Object is a tree. + // + TYPE_TREE = 2001; + + // Object is a barrier. + // + TYPE_BARRIER = 2002; + + // Object is vegetation. + // + TYPE_VEGETATION = 2003; + + // Object is a curbstone. + // + TYPE_CURBSTONE = 2004; + + // Object is a wall. + // + TYPE_WALL = 2005; + + // Object is a guard rail. + // + TYPE_GUARD_RAIL = 2006; } } From d24e835aea612a465ae572c15602bd0afb24cb0f Mon Sep 17 00:00:00 2001 From: carsten-kuebler <32508295+carsten-kuebler@users.noreply.github.com> Date: Tue, 27 Mar 2018 20:50:15 +0200 Subject: [PATCH 2/4] Add Unit Definition and new field number_wheels. --- osi_object.proto | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/osi_object.proto b/osi_object.proto index 41d205a6f..a3ecbcc0a 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -88,10 +88,18 @@ message Vehicle // approximate the clear area under a vehicle that a sensor can see // through. optional double ground_clearance = 12; - + // Median radius of the wheels. - // + // + // Unit: [m] + // optional double radius_wheel = 13; + + // Number of independent wheels. + // + // Unit: [] + // + optional uint32 number_wheels = 13; // Definition of vehicle types. // From cfc32874e861570bd1bb52a39c8eb445dbc33af4 Mon Sep 17 00:00:00 2001 From: carsten-kuebler <32508295+carsten-kuebler@users.noreply.github.com> Date: Tue, 27 Mar 2018 20:53:19 +0200 Subject: [PATCH 3/4] Bugfix field number --- osi_object.proto | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/osi_object.proto b/osi_object.proto index a3ecbcc0a..a3838acf1 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -99,7 +99,7 @@ message Vehicle // // Unit: [] // - optional uint32 number_wheels = 13; + optional uint32 number_wheels = 14; // Definition of vehicle types. // From 54c3d9165edc5f4e09cca8b205770cc457ade084 Mon Sep 17 00:00:00 2001 From: carsten-kuebler <32508295+carsten-kuebler@users.noreply.github.com> Date: Tue, 27 Mar 2018 21:23:46 +0200 Subject: [PATCH 4/4] Adapt object.proto and detectedobject.proto --- osi_object.proto | 28 ++++++++++++++++++++-------- 1 file changed, 20 insertions(+), 8 deletions(-) diff --git a/osi_object.proto b/osi_object.proto index d6a956aa4..59cabcdee 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -147,13 +147,13 @@ message Vehicle // TYPE_DELIVERY_VAN = 6; - // Vehicle is a heavy truck, bus, or large van. + // Vehicle is a heavy truck. // - TYPE_TRUCK = 7; + TYPE_HEAVY_TRUCK = 7; // Vehicle is a truck with semitrailer. // - TYPE_TRUCK_SEMITRAILER = 8; + TYPE_SEMITRAILER = 8; // Vehicle is a trailer (possibly attached to another vehicle). // @@ -166,6 +166,22 @@ message Vehicle // Vehicle is a bicycle (without motor and specific lights). // TYPE_BICYCLE = 11; + + // Vehicle is a bus. + // + TYPE_BUS = 12; + + // Vehicle is a tram. + // + TYPE_TRAM = 13; + + // Vehicle is a train. + // + TYPE_TRAIN = 14; + + // Vehicle is a wheelchair. + // + TYPE_WHEELCHAIR = 15; } // @@ -248,7 +264,7 @@ message Vehicle // Light is off. // - GENERIC_LIGHT_STATE_OFF = 2; + GENERIC_LIGHT_STATE_OFF = 2; // Light is on. // @@ -400,9 +416,5 @@ message StationaryObject // Object is a wall. // TYPE_WALL = 2005; - - // Object is a guard rail. - // - TYPE_GUARD_RAIL = 2006; } }