From 23b69d2ba455f60478f4903c02d2e8a76c9b06ac Mon Sep 17 00:00:00 2001 From: "Pierre R. Mai" Date: Thu, 16 Jul 2020 19:54:44 +0200 Subject: [PATCH 1/5] Add flag to filter static content from sensorview Signed-off-by: Pierre R. Mai --- osi_sensorviewconfiguration.proto | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/osi_sensorviewconfiguration.proto b/osi_sensorviewconfiguration.proto index 3df348a54..91f17c591 100644 --- a/osi_sensorviewconfiguration.proto +++ b/osi_sensorviewconfiguration.proto @@ -190,6 +190,13 @@ message SensorViewConfiguration // Unit: s optional Timestamp simulation_start_time = 10; + // Omit Static Information + // + // This flag specifies whether ground truth information can + // omit static information or not. + // + optional bool omit_static_information = 11; + // Generic Sensor View Configuration(s). // // \note OSI uses singular instead of plural for repeated field names. From 7f11084fea0e95d5a4e46e305e1756127059c168 Mon Sep 17 00:00:00 2001 From: "Pierre R. Mai" Date: Mon, 20 Sep 2021 17:55:31 +0200 Subject: [PATCH 2/5] Adjust static flag description to be more precise Signed-off-by: Pierre R. Mai --- osi_sensorviewconfiguration.proto | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/osi_sensorviewconfiguration.proto b/osi_sensorviewconfiguration.proto index 91f17c591..5af4a7a91 100644 --- a/osi_sensorviewconfiguration.proto +++ b/osi_sensorviewconfiguration.proto @@ -192,8 +192,10 @@ message SensorViewConfiguration // Omit Static Information // - // This flag specifies whether ground truth information can - // omit static information or not. + // This flag specifies whether \c GroundTruth information that + // was already provided using a GroundTruthInit parameter + // at initialization time shall be omitted from the \c SensorView + // ground truth information. // optional bool omit_static_information = 11; From 19fbc9a1a034786e33751a923242692320ddb12a Mon Sep 17 00:00:00 2001 From: Habedank Clemens Date: Tue, 8 Jun 2021 19:38:16 +0200 Subject: [PATCH 3/5] introduce ground truth init configuration for negotiating what is regarded static Signed-off-by: Habedank Clemens --- osi_groundtruthinitconfiguration.proto | 36 ++++++++++++++++++++++++++ osi_sensorviewconfiguration.proto | 2 ++ 2 files changed, 38 insertions(+) create mode 100644 osi_groundtruthinitconfiguration.proto diff --git a/osi_groundtruthinitconfiguration.proto b/osi_groundtruthinitconfiguration.proto new file mode 100644 index 000000000..44b9c0eb8 --- /dev/null +++ b/osi_groundtruthinitconfiguration.proto @@ -0,0 +1,36 @@ +syntax = "proto2"; + +option optimize_for = SPEED; + +import "osi_common.proto"; +import "osi_version.proto"; + +package osi3; + +// +// \brief The configuration settings for splitting static and dynamic +// content for performance reasons. Static content of \c GroundTruth +// can be sent at initialization, dynamic content during simulation +// as \c SensorView. What is regarded as static content is described here. +// +message GroundTruthInitConfiguration +{ + // The interface version used by the sender (simulation environment). + // + optional InterfaceVersion version = 1; + + // Omit static street layer + // + // The street layer, i.e. \c Lane, \c LaneBoundary and \c RoadMarking + // is regarded static and should be sent only at initialization. + // + optional bool omit_static_street_layer = 2; + + // Omit static objects + // + // Objects of type \c MovingObject and \c StationaryObject which do not + // have changing attributes (e.g. changing position) during a simulation + // are regarded static and should be sent only at initialization. + // + optional bool omit_static_objects = 3; +} \ No newline at end of file diff --git a/osi_sensorviewconfiguration.proto b/osi_sensorviewconfiguration.proto index 5af4a7a91..56600d1b3 100644 --- a/osi_sensorviewconfiguration.proto +++ b/osi_sensorviewconfiguration.proto @@ -190,6 +190,8 @@ message SensorViewConfiguration // Unit: s optional Timestamp simulation_start_time = 10; + // \attention: DEPRECATED (might be deprecated in v4.0) + // // Omit Static Information // // This flag specifies whether \c GroundTruth information that From ef806f1a2a370619fbfa9ee976a89dca24f76735 Mon Sep 17 00:00:00 2001 From: Habedank Clemens Date: Wed, 9 Jun 2021 08:29:20 +0200 Subject: [PATCH 4/5] minor changes Signed-off-by: Habedank Clemens --- osi_groundtruthinitconfiguration.proto | 7 +++++-- osi_sensorviewconfiguration.proto | 3 ++- 2 files changed, 7 insertions(+), 3 deletions(-) diff --git a/osi_groundtruthinitconfiguration.proto b/osi_groundtruthinitconfiguration.proto index 44b9c0eb8..89a235d5e 100644 --- a/osi_groundtruthinitconfiguration.proto +++ b/osi_groundtruthinitconfiguration.proto @@ -30,7 +30,10 @@ message GroundTruthInitConfiguration // // Objects of type \c MovingObject and \c StationaryObject which do not // have changing attributes (e.g. changing position) during a simulation - // are regarded static and should be sent only at initialization. + // are regarded static and should be sent only at initialization. + // + // \note: While sending certain object at initialization and others + // at runtime, it must be ensured that each object still has a unique id. // optional bool omit_static_objects = 3; -} \ No newline at end of file +} diff --git a/osi_sensorviewconfiguration.proto b/osi_sensorviewconfiguration.proto index 56600d1b3..aac810320 100644 --- a/osi_sensorviewconfiguration.proto +++ b/osi_sensorviewconfiguration.proto @@ -190,7 +190,8 @@ message SensorViewConfiguration // Unit: s optional Timestamp simulation_start_time = 10; - // \attention: DEPRECATED (might be deprecated in v4.0) + // TBD: I guess we would not introduce this field in favor of the + // GroundTruthInitConfiguration. // // Omit Static Information // From 29797490d5511402beb9d3ec1f79d6cdfa70dea1 Mon Sep 17 00:00:00 2001 From: "Pierre R. Mai" Date: Mon, 20 Sep 2021 17:59:32 +0200 Subject: [PATCH 5/5] Remove deprecation on sensorviewconfiguration flag Signed-off-by: Pierre R. Mai --- osi_sensorviewconfiguration.proto | 3 --- 1 file changed, 3 deletions(-) diff --git a/osi_sensorviewconfiguration.proto b/osi_sensorviewconfiguration.proto index aac810320..5af4a7a91 100644 --- a/osi_sensorviewconfiguration.proto +++ b/osi_sensorviewconfiguration.proto @@ -190,9 +190,6 @@ message SensorViewConfiguration // Unit: s optional Timestamp simulation_start_time = 10; - // TBD: I guess we would not introduce this field in favor of the - // GroundTruthInitConfiguration. - // // Omit Static Information // // This flag specifies whether \c GroundTruth information that