From 59ddd4d4d918d5ad93a125b0c44683d8c90b3f9b Mon Sep 17 00:00:00 2001 From: Philipp Rosenberger Date: Fri, 29 Jan 2021 19:10:38 +0100 Subject: [PATCH 1/4] Tune definition of ground_clearance vs. bounding box Update osi_detectedobject.proto, ground_clearance is included in base().height. Signed-off-by: Philipp Rosenberger --- osi_detectedobject.proto | 1 + 1 file changed, 1 insertion(+) diff --git a/osi_detectedobject.proto b/osi_detectedobject.proto index 5ecf79eb4..41acb88f4 100644 --- a/osi_detectedobject.proto +++ b/osi_detectedobject.proto @@ -159,6 +159,7 @@ message DetectedMovingObject // // \note The bounding box does NOT includes mirrors for vehicles. // \note The parent frame of \c base is the sensor's vehicle frame. + // \note The height includes the ground_clearance, so always goes from top to ground. // optional BaseMoving base = 2; From 66369fdbdfd2e0373b2ddb7c352061d797cfe51e Mon Sep 17 00:00:00 2001 From: Philipp Rosenberger Date: Fri, 29 Jan 2021 19:34:41 +0100 Subject: [PATCH 2/4] Finetuning of ground clearance, resolves #467 Signed-off-by: Philipp Rosenberger --- osi_object.proto | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) diff --git a/osi_object.proto b/osi_object.proto index 4c7db14d2..a74402efa 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -292,6 +292,7 @@ message MovingObject // The base parameters of the vehicle. // // \note The bounding box does NOT include side mirrors for vehicles. + // \note The height includes the ground_clearance, so always goes from top to ground. // optional BaseMoving base = 2; @@ -442,11 +443,12 @@ message MovingObject // optional Vector3d bbcenter_to_front = 5; - // Static minimal distance in m of under-body plane to ground - // surface plane (i.e. disregarding driving dynamic effects or road - // surface effects) under neutral load conditions. Can be useful to - // approximate the clear area under a vehicle that a sensor can see - // through. + // Static minimal distance or space from the lowest point of the vehicle, + // under neutral load conditions (i.e. disregarding driving dynamic + // effects or road surface effects), to the surface plane below it. + // Can be useful to approximate the clearance area under a vehicle + // that a sensor can see through. + // \note \c ground_clearance is included in the bounding box height. // optional double ground_clearance = 6; From 109128ed4098fc29ee7bec7cce860c8810eed2eb Mon Sep 17 00:00:00 2001 From: Maximilian Rosin Date: Fri, 5 Feb 2021 09:29:54 +0100 Subject: [PATCH 3/4] fix(docs): Review documentation changes (#467) Signed-off-by: Maximilian Rosin Signed-off-by: Pierre R. Mai --- osi_detectedobject.proto | 3 ++- osi_object.proto | 13 +++++++------ 2 files changed, 9 insertions(+), 7 deletions(-) diff --git a/osi_detectedobject.proto b/osi_detectedobject.proto index 41acb88f4..fc5f24591 100644 --- a/osi_detectedobject.proto +++ b/osi_detectedobject.proto @@ -159,7 +159,8 @@ message DetectedMovingObject // // \note The bounding box does NOT includes mirrors for vehicles. // \note The parent frame of \c base is the sensor's vehicle frame. - // \note The height includes the ground_clearance, so always goes from top to ground. + // \note The height includes the ground_clearance. It always goes from the + // top to the ground. // optional BaseMoving base = 2; diff --git a/osi_object.proto b/osi_object.proto index a74402efa..0e326c251 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -292,7 +292,8 @@ message MovingObject // The base parameters of the vehicle. // // \note The bounding box does NOT include side mirrors for vehicles. - // \note The height includes the ground_clearance, so always goes from top to ground. + // \note The height includes the ground_clearance. It always goes from the + // top to the ground. // optional BaseMoving base = 2; @@ -443,11 +444,11 @@ message MovingObject // optional Vector3d bbcenter_to_front = 5; - // Static minimal distance or space from the lowest point of the vehicle, - // under neutral load conditions (i.e. disregarding driving dynamic - // effects or road surface effects), to the surface plane below it. - // Can be useful to approximate the clearance area under a vehicle - // that a sensor can see through. + // Static minimal distance or space from the lowest point of the vehicle + // to the surface plane below it under neutral load conditions. This + // distance disregards, for example, driving-dynamic effects or + // road-surface effects. Can be useful to approximate the clearance area + // under a vehicle that a sensor can see through. // \note \c ground_clearance is included in the bounding box height. // optional double ground_clearance = 6; From c7b7195f96cfe392f28eec0e31ffcda3ad8ba025 Mon Sep 17 00:00:00 2001 From: Kmeid Saad Date: Thu, 11 Feb 2021 13:51:45 +0100 Subject: [PATCH 4/4] Clarify ground_clearance reference to vehicle body Signed-off-by: Pierre R. Mai --- osi_object.proto | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/osi_object.proto b/osi_object.proto index 0e326c251..58b00dd34 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -444,8 +444,8 @@ message MovingObject // optional Vector3d bbcenter_to_front = 5; - // Static minimal distance or space from the lowest point of the vehicle - // to the surface plane below it under neutral load conditions. This + // Static minimal distance or space from the lowest point of the vehicle's + // body to the surface plane below it under neutral load conditions. This // distance disregards, for example, driving-dynamic effects or // road-surface effects. Can be useful to approximate the clearance area // under a vehicle that a sensor can see through.