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feat: Add virtual detection area
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Signed-off-by: Jonas <[email protected]>
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jruebsam committed Feb 26, 2024
1 parent 2466fcb commit 7831d29
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13 changes: 13 additions & 0 deletions osi_common.proto
Original file line number Diff line number Diff line change
Expand Up @@ -952,3 +952,16 @@ message KeyValuePair
//
optional string value = 2;
}

//
// \brief Polygon in 3 dimensions
//
// A polygon in 3 dimensions which contains a list of vertices.
// The vertices are required to lie in the same 2 dimensional plane.
// The outer surface of the polygon is defined by a counter-clockwise ordering of the vertices
// relative to the current viewpoint.
//
message Polygon3d
{
repeated Vector3d vertices = 1;
}
19 changes: 19 additions & 0 deletions osi_sensordata.proto
Original file line number Diff line number Diff line change
Expand Up @@ -297,4 +297,23 @@ message SensorData
// in cartesian coordinates.
//
optional LogicalDetectionData logical_detection_data = 27;

//
// \brief Virtual detection area of a sensor
//
// The virtual detection area describes the are the sensor can see in a best case scenario
// where no occlusion or other statistical effects are considered. It is described by a set
// of polygons which represent the surface of the detection area.
//
message VirtualDetectionArea {
repeated Polygon3d polygons = 1;
}

// Virtual detection area of the sensordata
//
// The virtual detection of the corresponding sensor of the sensordata message
//
optional VirtualDetectionArea virtual_detection_area = 28;


}

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