osi3::GroundTruth Struct Reference

The ground truth information from the simulation environment. More...

Collaboration diagram for osi3::GroundTruth:

Public Attributes
optional InterfaceVersion	version = 1
optional Timestamp	timestamp = 2
optional Identifier	host_vehicle_id = 3
repeated StationaryObject	stationary_object = 4
repeated MovingObject	moving_object = 5
repeated TrafficSign	traffic_sign = 6
repeated TrafficLight	traffic_light = 7
repeated RoadMarking	road_marking = 8
repeated LaneBoundary	lane_boundary = 9
repeated Lane	lane = 10
repeated Occupant	occupant = 11
optional EnvironmentalConditions	environmental_conditions = 12
optional uint32	country_code = 13
optional string	proj_string = 14
optional string	map_reference = 15
optional string	model_reference = 16

Detailed Description

The ground truth information from the simulation environment.

This ground truth information is supposed to describe the whole simulated environment around any simulated vehicle. For each simulated host vehicle (there may be one or multiple), define an area around the vehicle which is greater than the combined field of views (FOV) of all obstructed sensors in the vehicle. The ground truth data is supposed to describe the convex hull of all such areas w.r.t. a global simulation coordinate system.

The simulation coordinate system may change during the simulation if and only if all coordinates w.r.t. this coordinate system are also changed.

The data has to be sent at a rate defined by the receiving partner. When sending, values with default values might be left default in order to improve performance.

To provide a complete interface, all fields of all contained messages must be properly set unless specifically stated in the field's definition that the field may remain unset.

In enums (e.g. types) the unknown (first / default) value is not allowed to be used in the ground truth interface.

Ground Truth

Member Data Documentation

country_code

optional uint32 osi3::GroundTruth::country_code = 13

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: \endrules

environmental_conditions

optional EnvironmentalConditions osi3::GroundTruth::environmental_conditions = 12

Conditions of the environment.

host_vehicle_id

optional Identifier osi3::GroundTruth::host_vehicle_id = 3

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 \endrules

lane

repeated Lane osi3::GroundTruth::lane = 10

The list of lanes forming a road network.

Note

OSI uses singular instead of plural for repeated field names.

lane_boundary

repeated LaneBoundary osi3::GroundTruth::lane_boundary = 9

The list of lane boundaries.

Note

OSI uses singular instead of plural for repeated field names.

map_reference

optional string osi3::GroundTruth::map_reference = 15

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.

model_reference

optional string osi3::GroundTruth::model_reference = 16

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.

moving_object

repeated MovingObject osi3::GroundTruth::moving_object = 5

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

Note

OSI uses singular instead of plural for repeated field names.

occupant

repeated Occupant osi3::GroundTruth::occupant = 11

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

Note

OSI uses singular instead of plural for repeated field names.

proj_string

optional string osi3::GroundTruth::proj_string = 14

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

road_marking

repeated RoadMarking osi3::GroundTruth::road_marking = 8

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

Note

OSI uses singular instead of plural for repeated field names.

stationary_object

repeated StationaryObject osi3::GroundTruth::stationary_object = 4

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

Note

OSI uses singular instead of plural for repeated field names.

timestamp

optional Timestamp osi3::GroundTruth::timestamp = 2

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).

traffic_light

repeated TrafficLight osi3::GroundTruth::traffic_light = 7

The list of traffic lights.

Note

OSI uses singular instead of plural for repeated field names.

traffic_sign

repeated TrafficSign osi3::GroundTruth::traffic_sign = 6

The list of traffic signs.

Note

OSI uses singular instead of plural for repeated field names.

version

optional InterfaceVersion osi3::GroundTruth::version = 1

The interface version used by the sender (i.e. the simulation environment).

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The documentation for this struct was generated from the following file:

• osi_groundtruth.proto