Struct GroundTruth

Struct Documentation

struct GroundTruth

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.

../_images/OSI_GroundTruth.svg

Public Members

optional InterfaceVersion osi3::GroundTruth::version = 1

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

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.

Note

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).

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!

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.

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.

repeated TrafficSign osi3::GroundTruth::traffic_sign = 6

The list of traffic signs.

Note

OSI uses singular instead of plural for repeated field names.

repeated TrafficLight osi3::GroundTruth::traffic_light = 7

The list of traffic lights.

Note

OSI uses singular instead of plural for repeated field names.

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.

repeated LaneBoundary osi3::GroundTruth::lane_boundary = 9

The list of lane boundaries.

Note

OSI uses singular instead of plural for repeated field names.

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.

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.

optional EnvironmentalConditions osi3::GroundTruth::environmental_conditions = 12

Conditions of the environment.

optional uint32 osi3::GroundTruth::country_code = 13

The ISO country code in 3 digit numeric format according to: ISO Code 3166/1 [1,2]. E.g. Germany = 276, USA = 840.

Unit: []

References:

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.4 project rules for projections [1].

References:

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.

Note

It is implementation-specific how map_reference is resolved.