{"action":"created","comment":{"url":"https://api.github.com/repos/OpenSimulationInterface/open-simulation-interface/pulls/comments/177323995","pull_request_review_id":107170492,"id":177323995,"diff_hunk":"@@ -60,143 +68,137 @@ message SensorData\n     //\n     optional Timestamp timestamp = 2;\n \n-    // Ground truth w.r.t. global coordinate system\n+    // The ID of the sensor at host vehicle's mounting_position.\n     //\n-    // This is the ground truth that is provided to the sensor model by the\n-    // simulation environment.\n-    // \\note Should be used as constant in the sensor models.\n-    // \n-    optional GroundTruth global_ground_truth = 3;\n-    \n-    // Sensor view w.r.t. the sensor coordinate system\n+    // This is the ID of the virtual sensor, to be used in its detected\n+    // object output; it is distinct from the IDs of its physical detectors,\n+    // which are used in the detected features.\n     //\n-    // This provides additional data to the sensor model as configured in\n-    // the sensor input configuration.  All data is relative to the sensor\n-    // both in terms of the coordinate system, as well as the content.\n-    // \\note Should be used as constant in the sensor models.\n-    // \n-    optional SensorView sensor_view = 4;\n-    \n-    // The ID of the host vehicle in the ground_truth data.\n-    //    \n-    optional Identifier host_vehicle_id = 5;\n-    \n-    // The mounting position of the sensor (origin and orientation of the sensor coordinate system)\n-    // given in vehicle coordinates [1].\n+    optional Identifier sensor_id = 3;\n+\n+    // The virtual mounting position of the sensor (origin and orientation\n+    // of the sensor coordinate system) given in vehicle coordinates [1].\n+    // The virtual position pertains to the sensor as a whole, regardless\n+    // of the actual position of individual physical detectors, and governs\n+    // the sensor-relative coordinates in detected objects of the sensor\n+    // as a whole.  Individual features detected by individual physical\n+    // detectors are governed by the actual physical mounting positions\n+    // of the detectors, as indicated in the technology-specific sub-views\n+    // and sub-view configurations.\n     //\n     // \\arg \\b x-direction of sensor coordinate system: sensor viewing direction\n     // \\arg \\b z-direction of sensor coordinate system: sensor (up)\n     // \\arg \\b y-direction of sensor coordinate system: perpendicular to x and z right hand system\n     //\n-    // \\par References: \n+    // \\par References:\n     // [1] DIN ISO 8855:2013-11\n     //\n     // \\note This field is usually static during the simulation.\n-    // \\note The origin of vehicle's coordinate system in world frame is \n+    // \\note The origin of vehicle's coordinate system in world frame is\n     // ( \\c Vehicle::base.position + Inverse_Rotation_yaw_pitch_roll(\\c Vehicle::base.orientation) * \\c Vehicle::bbcenter_to_rear) .\n-    // The orientation of the vehicle's coordinate system is equal to the orientation \n+    // The orientation of the vehicle's coordinate system is equal to the orientation\n     // of the vehicle's bounding box \\c Vehicle::base.orientation.\n     //\n-    optional MountingPosition mounting_position = 6;\n+    optional MountingPosition mounting_position = 4;\n \n     // The root mean squared error of the mounting position.\n     //\n-    optional MountingPosition mounting_position_rmse = 7;\n+    optional MountingPosition mounting_position_rmse = 5;\n+\n+    // Sensor view w.r.t. the sensor coordinate system\n+    //\n+    // This provides a copy of the \\c SensorView data received by the sensor\n+    // for reference purposes.\n+    //\n+    optional SensorView sensor_view = 6;\n \n     // The timestamp of the last real-world measurement (e.g. GT input) that\n     // this set of sensor data takes into account.  This in effect is the last\n     // time instance of reality the measurements correspond to.  See field\n     // \\c SensorData::timestamp for a detailed discussion.  This value is also\n     // the upper bound to the \\c DetectedObjectHeader::measurement_time and the\n     // feature data \\c SensorDetectionHeader::measurement_time fields.\n-    // \n-    optional Timestamp last_measurement_time = 8;\n+    //\n+    optional Timestamp last_measurement_time = 7;\n \n     // General information about the \\c DetectedObject .\n-    // \n-    optional DetectedEntityHeader object_header = 100;\n-    \n+    //\n+    optional DetectedEntityHeader object_header = 8;\n+\n     // The list of objects detected by the sensor as perceived by the sensor.\n     //\n     repeated DetectedObject object = 9;\n-    \n+\n     // General information about the \\c DetectedTrafficSign .\n-    // \n-    optional DetectedEntityHeader traffic_sign_header = 101;\n+    //\n+    optional DetectedEntityHeader traffic_sign_header = 10;\n \n     // The list of traffic signs detected by the sensor\n     //\n-    repeated DetectedTrafficSign traffic_sign = 10;\n-        \n+    repeated DetectedTrafficSign traffic_sign = 11;\n+\n     // General information about the \\c DetectedTrafficLight .\n-    // \n-    optional DetectedEntityHeader traffic_light_header = 102;\n+    //\n+    optional DetectedEntityHeader traffic_light_header = 12;\n \n     // The list of traffic lights detected by the sensor\n-    // \n-    repeated DetectedTrafficLight traffic_light = 11;\n+    //\n+    repeated DetectedTrafficLight traffic_light = 13;\n \n     // General information about the \\c DetectedRoadMarking .\n-    // \n-    optional DetectedEntityHeader road_marking_header = 103;\n+    //\n+    optional DetectedEntityHeader road_marking_header = 14;\n \n     // The list of road marking detected by the sensor.\n     // This excludes lane boundary markings.\n     //\n-    repeated DetectedRoadMarking road_marking = 12;\n-        \n+    repeated DetectedRoadMarking road_marking = 15;\n+\n     // General information about the \\c DetectedLane .\n-    // \n-    optional DetectedEntityHeader lane_header = 104;\n+    //\n+    optional DetectedEntityHeader lane_header = 16;\n \n     // The list of lane detected by the sensor\n-    // \n-    repeated DetectedLane lane = 13;\n-        \n+    //\n+    repeated DetectedLane lane = 17;\n+\n+    // The ID of the lane the host vehicle travels on in the DetectedLane data,\n+    // relative to the sensor.\n+    //\n+    optional Identifier host_vehicle_lane_id = 18;","path":"osi_sensordata.proto","position":210,"original_position":210,"commit_id":"edb704d43dea187331b3e8d52eb1aac0932ab9d4","original_commit_id":"2625821dd76074dbf7f0becb02d49d7afd1e6cd8","user":{"login":"pmai","id":91502,"avatar_url":"https://avatars0.githubusercontent.com/u/91502?v=4","gravatar_id":"","url":"https://api.github.com/users/pmai","html_url":"https://github.com/pmai","followers_url":"https://api.github.com/users/pmai/followers","following_url":"https://api.github.com/users/pmai/following{/other_user}","gists_url":"https://api.github.com/users/pmai/gists{/gist_id}","starred_url":"https://api.github.com/users/pmai/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/pmai/subscriptions","organizations_url":"https://api.github.com/users/pmai/orgs","repos_url":"https://api.github.com/users/pmai/repos","events_url":"https://api.github.com/users/pmai/events{/privacy}","received_events_url":"https://api.github.com/users/pmai/received_events","type":"User","site_admin":false},"body":"Given that I wrote that: Sure it is an estimated position, since the vehicle itself has no way of knowing the proper true position. But as stated in that file's header:\r\n\r\n    // \\brief Interface for host vehicle data that is available to sensors and\r\n    // other functions due to host vehicle's internal communication.\r\n\r\nI.e. this is the input side that's available to sensors due to internal communication, it was not meant for the output side of a single sensor. It is the current best knowledge of the vehicle itself, like its knowledge of its break pedal position, RPMs, etc.\r\n\r\nI think any estimation by a single sensor in SensorData should follow the pattern for all other detected output we have (i.e. it should be added as single attributes to SensorData). I'll push a commit for that.","created_at":"2018-03-27T06:55:46Z","updated_at":"2018-03-27T06:55:46Z","html_url":"https://github.com/OpenSimulationInterface/open-simulation-interface/pull/179#discussion_r177323995","pull_request_url":"https://api.github.com/repos/OpenSimulationInterface/open-simulation-interface/pulls/179","author_association":"CONTRIBUTOR","_links":{"self":{"href":"https://api.github.com/repos/OpenSimulationInterface/open-simulation-interface/pulls/comments/177323995"},"html":{"href":"https://github.com/OpenSimulationInterface/open-simulation-interface/pull/179#discussion_r177323995"},"pull_request":{"href":"https://api.github.com/repos/OpenSimulationInterface/open-simulation-interface/pulls/179"}},"in_reply_to_id":177064836},"pull_request":{"url":"https://api.github.com/repos/OpenSimulationInterface/open-simulation-interface/pulls/179","id":177416964,"html_url":"https://github.com/OpenSimulationInterface/open-simulation-interface/pull/179","diff_url":"https://github.com/OpenSimulationInterface/open-simulation-interface/pull/179.diff","patch_url":"https://github.com/OpenSimulationInterface/open-simulation-interface/pull/179.patch","issue_url":"https://api.github.com/repos/OpenSimulationInterface/open-simulation-interface/issues/179","number":179,"state":"open","locked":false,"title":"Seperate SensorView from SensorData","user":{"login":"pmai","id":91502,"avatar_url":"https://avatars0.githubusercontent.com/u/91502?v=4","gravatar_id":"","url":"https://api.github.com/users/pmai","html_url":"https://github.com/pmai","followers_url":"https://api.github.com/users/pmai/followers","following_url":"https://api.github.com/users/pmai/following{/other_user}","gists_url":"https://api.github.com/users/pmai/gists{/gist_id}","starred_url":"https://api.github.com/users/pmai/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/pmai/subscriptions","organizations_url":"https://api.github.com/users/pmai/orgs","repos_url":"https://api.github.com/users/pmai/repos","events_url":"https://api.github.com/users/pmai/events{/privacy}","received_events_url":"https://api.github.com/users/pmai/received_events","type":"User","site_admin":false},"body":"This commit completely seperates SensorView as the new input interface\r\nfor sensor models from SensorData as the output interface for sensor\r\nmodels. It also regularizes sensor_id and mounting_position treatment\r\nand adds support for virtual sensors that contain multiple physical\r\ndetectors (actual physical sensors).  All potential top-level messages\r\nnow also contain a proper interface version field.\r\n\r\nThis PR should make obsolete PRs #169, #175 and #171.","created_at":"2018-03-26T11:30:04Z","updated_at":"2018-03-27T06:55:46Z","closed_at":null,"merged_at":null,"merge_commit_sha":"82fdfc8a4b59654a21a9a57621dd811cb57e9ca6","assignee":{"login":"pmai","id":91502,"avatar_url":"https://avatars0.githubusercontent.com/u/91502?v=4","gravatar_id":"","url":"https://api.github.com/users/pmai","html_url":"https://github.com/pmai","followers_url":"https://api.github.com/users/pmai/followers","following_url":"https://api.github.com/users/pmai/following{/other_user}","gists_url":"https://api.github.com/users/pmai/gists{/gist_id}","starred_url":"https://api.github.com/users/pmai/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/pmai/subscriptions","organizations_url":"https://api.github.com/users/pmai/orgs","repos_url":"https://api.github.com/users/pmai/repos","events_url":"https://api.github.com/users/pmai/events{/privacy}","received_events_url":"https://api.github.com/users/pmai/received_events","type":"User","site_admin":false},"assignees":[{"login":"pmai","id":91502,"avatar_url":"https://avatars0.githubusercontent.com/u/91502?v=4","gravatar_id":"","url":"https://api.github.com/users/pmai","html_url":"https://github.com/pmai","followers_url":"https://api.github.com/users/pmai/followers","following_url":"https://api.github.com/users/pmai/following{/other_user}","gists_url":"https://api.github.com/users/pmai/gists{/gist_id}","starred_url":"https://api.github.com/users/pmai/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/pmai/subscriptions","organizations_url":"https://api.github.com/users/pmai/orgs","repos_url":"https://api.github.com/users/pmai/repos","events_url":"https://api.github.com/users/pmai/events{/privacy}","received_events_url":"https://api.github.com/users/pmai/received_events","type":"User","site_admin":false}],"requested_reviewers":[],"requested_teams":[],"labels":[{"id":528630599,"url":"https://api.github.com/repos/OpenSimulationInterface/open-simulation-interface/labels/enhancement","name":"enhancement","color":"84b6eb","default":true}],"milestone":{"url":"https://api.github.com/repos/OpenSimulationInterface/open-simulation-interface/milestones/3","html_url":"https://github.com/OpenSimulationInterface/open-simulation-interface/milestone/3","labels_url":"https://api.github.com/repos/OpenSimulationInterface/open-simulation-interface/milestones/3/labels","id":2479652,"number":3,"title":"v3.0.0","description":"Update:\r\nThe fact that the changes have the consequence of OSI beeing aligned with the VDA initiative for the standardisation of hardware output sensors we change the version to 3.0.0. Also the changes to the road/lane system and the lowLevelData will not be backward compatible.\r\n\r\nUpdate:\r\nThe update will include the first proposal for \"DetectionLists\" and reworked lane definitions. The documentation will be updated in the beginning of January and the release therefore postponed to the 31th.\r\n\r\nUpdate:\r\nIt was decided in the workshop to work with the osi 2.2.0 till the half time event of Pegasus. We should aim to integrate improvements afterwards considering the feedback. The next RELEASE will therefore be approximately in mid of december. Changes to the master can still be made!\r\n\r\nThis version should include the changes suggested by the simulation tool developer which came up during the implementation process of the OSI exporter. The feedback of external partners should also investigated. The PEGASUS workshop end of Mai will also provide some 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