osi_common.proto

syntax = "proto2";

option optimize_for = SPEED;

package osi3;

//
// \brief A cartesian 3D vector for positions, velocities or accelerations or
// its uncertainties.
//
// The coordinate system is defined as right-handed.
//
// Units are [m] for positions, [m/s] for velocities and [m/s^2] for
// accelerations.
//
message Vector3d
{
    // The x coordinate.
    //
    // Unit: [m] [m/s] or [m/s^2]
    //
    optional double x = 1;

    // The y coordinate.
    //
    // Unit: [m] [m/s] or [m/s^2]
    //
    optional double y = 2;

    // The z coordinate.
    //
    // Unit: [m] [m/s] or [m/s^2]
    //
    optional double z = 3;
}

//
// \brief A cartesian 2D vector for positions, velocities or accelerations or
// its uncertainties.
//
// Units are [m] for positions, [m/s] for velocities and [m/s^2] for
// accelerations.
//
message Vector2d
{
    // The x coordinate.
    //
    // Unit: [m] [m/s] or [m/s^2]
    //
    optional double x = 1;

    // The y coordinate.
    //
    // Unit: [m] [m/s] or [m/s^2]
    //
    optional double y = 2;
}

//
// \brief A timestamp.
//
// Names and types of fields are chosen in accordance to
// google/protobuf/timestamp.proto to allow a possible switch in the future.
// There is no definition of the zero point in time neither it is the Unix
// epoch. A simulation may start at the zero point in time but it is not
// mandatory.
//
message Timestamp
{
    // The number of seconds since the start of e.g. the simulation / system /
    // vehicle.
    //
    // Unit: [s]
    //
    optional int64 seconds = 1;

    // The number of nanoseconds since the start of the last second.
    //
    // Range: [0, 999.999.999]
    //
    // Unit: [ns]
    //
    optional uint32 nanos = 2;
}

//
// \brief The dimension of a 3D box, e.g. the size of a 3D bounding box or its
// uncertainties.
//
// \image html OSI_Dimension3D.svg
//
// The dimensions are positive. Uncertainties are negative or positive.
//
// Dimension is defined in the specified reference coordinate frame along the
// x-axis (=length), y-axis (=width) and z-axis (=height).
//
message Dimension3d
{
    // The length of the box.
    //
    // Unit: [m]
    //
    optional double length = 1;

    // The width of the box.
    //
    // Unit: [m]
    //
    optional double width = 2;

    // The height of the box.
    //
    // Unit: [m]
    //
    optional double height = 3;
}

//
// \brief A 3D orientation, orientation rate or orientation acceleration (i.e.
// derivatives) or its uncertainties denoted in euler angles.
//
// Units are [rad] for orientation [rad/s] for rates and [rad/s^2] for
// accelerations
//
// The preferred angular range is (-pi, pi]. The coordinate system is defined as
// right-handed.
// For the sense of each rotation, the right-hand rule applies.
//
// The rotations are to be performed \b yaw \b first (around the z-axis),
// \b pitch \b second (around the new y-axis) and \b roll \b third (around the
// new x-axis) to follow the definition according to [1] (Tait-Bryan / Euler
// convention z-y'-x'').
//
// Roll/Pitch are 0 if the objects xy-plane is parallel to its parent's
// xy-plane. Yaw is 0 if the object's local x-axis is parallel to its parent's
// x-axis.
//
// \f$ Rotation_{yaw,pitch,roll} =
// Rotation_{roll}*Rotation_{pitch}*Rotation_{yaw} \f$
//
// \f$ vector_{\text{global coord system}} :=
// Rotation_{yaw,pitch,roll}^{-1}( \f$ \c Orientation3d \f$
// )*vector_{\text{local coord system}} + local_{origin}\text{::position} \f$
//
// \attention This definition changed in OSI version 3.0.0. Previous OSI
// versions  (V2.xx) had an other definition.
//
// \par References:
// - [1] DIN ISO 8855:2013-11
//
message Orientation3d
{
    // The roll angle/rate/acceleration.
    //
    // Unit: [rad] [rad/s] or [rad/s^2]
    //
    optional double roll = 1;

    // The pitch angle/rate/acceleration.
    //
    // Unit: [rad] [rad/s] or [rad/s^2]
    //
    optional double pitch = 2;

    // The yaw angle/rate/acceleration.
    //
    // Unit: [rad] [rad/s] or [rad/s^2]
    //
    optional double yaw = 3;
}

//
// \brief A common identifier (ID), represented as an integer.
//
// Has to be unique among all simulated items at any given time. For ground
// truth, the identifier of an item (object, lane, sign, etc.) must remain
// stable over its lifetime. \c Identifier values may be only be reused if the
// available address space is exhausted and the specific values have not been in
// use for several timesteps. Sensor specific tracking IDs have no restrictions
// and should behave according to the sensor specifications.
//
// The value MAX(uint64) = 2^(64) -1 =
// 0b1111111111111111111111111111111111111111111111111111111111111111 is
// reserved and indicates an invalid ID or error.
//
message Identifier
{
    // The identifier's value.
    //
    optional uint64 value = 1;
}

//
// \brief Specifies the mounting position of a sensor.
//
// Details are specified in each instance where \c MountingPosition is used.
//
message MountingPosition
{
    // Offset position relative to the specified reference coordinate system.
    //
    optional Vector3d position = 1;

    // Orientation offset relative to the specified reference coordinate system.
    //
    // \f$ Origin_{sensor} :=
    // Rotation_{yaw,pitch,roll}( \f$ \c #orientation \f$
    // )*(Origin_{\text{reference coord system}}
    // - \f$ \c #position \f$ )\f$
    //
    optional Orientation3d orientation = 2;
}

//
// \brief A spherical representation for a point or vector in 3D space.
//
// Used e.g., for low level representations of radar detections.
//
// Azimuth and elevation are defined as the rotations that would have to be
// applied to the local frame (e.g sensor frame definition in
// \c SensorDetectionHeader) to make its x-axis point towards the referenced
// point or to align it with the referenced vector. The rotations are to be
// performed \b azimuth \b first (around the z-axis) and \b elevation \b second
// (around the new y-axis) to follow the definition of \c Orientation3d. For the
// sense of each rotation, the right-hand rule applies.
//
// \f$ vector_{cartesian} :=
// Rotation( \f$ \c #elevation \f$ )*Rotation( \f$ \c #azimuth \f$ )*
// (Unit_{vector_x}* \f$ \c #distance \f$ ) \f$
//
message Spherical3d
{
    // The radial distance.
    //
    // Unit: [m]
    //
    optional double distance = 1;

    // The azimuth (horizontal) angle.
    //
    // Unit: [rad]
    //
    optional double azimuth = 2;

    // The elevation (vertical) angle.
    //
    // Unit: [rad]
    //
    optional double elevation = 3;
}

//
// \brief The base attributes of a stationary object or entity.
//
// This includes the \c StationaryObject , \c TrafficSign ,
// \c TrafficLight , \c RoadMarking messages.
//
// \image html OSI_BaseStationary.svg
//
// All coordinates and orientations from ground truth objects are relative to
// the global ground truth frame (see image). (All coordinates and orientations
// from detected objects are relative to the host vehicle frame (see:
// \c Vehicle vehicle reference point).)
//
message BaseStationary
{
    // The 3D dimensions of the stationary object (bounding box), e.g. a
    // landmark.
    //
    optional Dimension3d dimension = 1;

    // The reference point for position and orientation, i.e. the center (x,y,z)
    // of the bounding box.
    //
    optional Vector3d position = 2;

    // The relative orientation of the stationary object w.r.t. its parent
    // frame, noted in the parent frame. The orientation becomes global/absolute
    // if the parent frame is inertial (all parent frames up to ground truth).
    //
    // \f$ Origin_{\text{base stationary entity}} :=
    // Rotation_{yaw,pitch,roll}( \f$ \c #orientation \f$ )*
    // (Origin_{\text{parent coord system}} -
    // \f$ \c #position \f$ )\f$
    //
    // \note There may be some constraints how to align the orientation w.r.t.
    // to some stationary object's or entity's definition.
    //
    optional Orientation3d orientation = 3;

    // Usage as ground truth:
    // The two dimensional (flat) contour of the object. This is an extension of
    // the concept of a bounding box as defined by \c Dimension3d. The contour
    // is the projection of the object's outline onto the z-plane in the object
    // frame (independent of its current position and orientation). The height
    // is the same as the height of the bounding box.
    //
    // Usage as sensor data:
    // The polygon describes the visible part of the object's contour.
    //
    // General definitions:
    // The polygon is defined in the local object frame: x pointing forward and
    // y to the left.
    // The origin is the center of the bounding box.
    // As ground truth, the polygon is closed by connecting the last with the
    // first point. Therefore these two points must be different. The polygon
    // must consist of at least three points.
    // As sensor data, however, the polygon is open.
    // The polygon is defined counter-clockwise.
    //
    repeated Vector2d base_polygon = 4;
}

//
// \brief The base attributes of an object that is moving.
//
// This includes the \c MovingObject messages.
//
// \image html OSI_BaseMoving.svg
//
// E.g. a vehicle is a base moving object.
//
// All coordinates and orientations from ground truth objects are relative to
// the global ground truth frame. All coordinates and orientations
// from detected objects are relative to the host vehicle frame
// (see: \c MovingObject vehicle reference point).
//
message BaseMoving
{
    // The 3D dimension of the moving object (its bounding box).
    //
    optional Dimension3d dimension = 1;

    // The reference point for position and orientation: the center (x,y,z) of
    // the bounding box.
    //
    optional Vector3d position = 2;

    // The relative orientation of the moving object w.r.t. its parent frame,
    // noted in the parent frame. The orientation becomes global/absolute if
    // the parent frame is inertial (all parent frames up to ground truth).
    //
    // \f$ Origin_{\text{base moving entity}} :=
    // Rotation_{yaw,pitch,roll}( \f$ \c #orientation \f$ )*
    // (Origin_{\text{parent coord system}} -
    // \f$ \c #position \f$ ) \f$
    //
    // \note There may be some constraints how to align the orientation w.r.t.
    // to some stationary object's or entity's definition.
    //
    optional Orientation3d orientation = 3;

    // The relative velocity of the moving object w.r.t. the parent frame,
    // noted in the parent frame. The velocity becomes global/absolute if
    // the parent frame does is inertial (all parent frames up to ground truth).
    //
    // \c #position \f$ (t) := \f$ \c #position \f$ (t-dt)+ \f$ \c #velocity \f$
    // *dt \f$
    //
    optional Vector3d velocity = 4;

    // The relative acceleration of the moving object w.r.t. its parent frame,
    // noted in the parent frame. The acceleration becomes global/absolute if
    // the parent frame is inertial (all parent frames up to ground truth).
    //
    // \c #position \f$ (t) := \f$ \c #position \f$ (t-dt)+ \f$ \c #velocity \f$
    // *dt+ \f$ \c #acceleration \f$ /2*dt^2\f$
    //
    // \c #velocity \f$ (t) := \f$ \c #velocity \f$ (t-dt)+ \f$ \c #acceleration
    // \f$ *dt \f$
    //
    optional Vector3d acceleration = 5;

    // The relative orientation rate of the moving object w.r.t. its parent
    // frame and parent orientation rate in the center point of the bounding box
    // (origin of the bounding box frame), noted in the parent frame.
    // The orientation becomes global/absolute if the parent frame is inertial
    // (all parent frames up to ground truth).
    //
    // \c #orientation \f$ .yaw(t) := \f$ \c #orientation_rate \f$ .yaw(t) * dt
    // + \f$ \c #orientation \f$ .yaw(t-dt) \f$
    //
    // \c #orientation \f$ .pitch(t) := \f$ \c #orientation_rate \f$ .pitch(t) *
    // dt + \f$ \c #orientation \f$ .pitch(t-dt) \f$
    //
    // \c #orientation \f$ .roll(t) := \f$ \c #orientation_rate \f$ .roll(t) *
    // dt + \f$ \c #orientation \f$ .roll(t-dt)\f$
    //
    optional Orientation3d orientation_rate = 6;

    // The relative orientation acceleration of the moving object w.r.t. its
    // parent frame and parent orientation acceleration in the center point of
    // the bounding box (origin of the bounding box frame), noted in the parent
    // frame. The orientation becomes global/absolute if the parent frame is
    // inertial (all parent frames up to ground truth).
    //
    // \c #orientation_rate \f$ .yaw(t) := \f$ \c #orientation_acceleration \f$
    // .yaw(t) * dt + \f$ \c #orientation_rate \f$ .yaw(t-dt) \f$
    //
    // \c #orientation_rate \f$ .pitch(t) := \f$ \c #orientation_acceleration
    // \f$ .pitch(t) * dt
    // + \f$ \c #orientation_rate \f$ .pitch(t-dt) \f$
    //
    // \c #orientation_rate \f$ .roll(t) := \f$ \c #orientation_acceleration \f$
    // .roll(t) * dt +
    //  \f$ \c #orientation_rate \f$ .roll(t-dt) \f$
    //
    optional Orientation3d orientation_acceleration = 8;

    // Usage as ground truth:
    // The two dimensional (flat) contour of the object. This is an extension of
    // the concept of a bounding box as defined by \c Dimension3d. The contour
    // is the projection of the object's outline onto the z-plane in the object
    // frame (independent of its current position and orientation). The height
    // is the same as the height of the bounding box.
    //
    // Usage as sensor data:
    // The polygon describes the visible part of the object's contour.
    //
    // General definitions:
    // The polygon is defined in the local object frame: x pointing forward and
    // y to the left. The origin is the center of the bounding box.
    // As ground truth, the polygon is closed by connecting the last with the
    // first point. Therefore these two points must be different. The polygon
    // must consist of at least three points. As sensor data, however, the
    // polygon is open.
    // The polygon is defined counter-clockwise.
    //
    repeated Vector2d base_polygon = 7;
}