From 7831d29105b41214dc24104e85318970822579c2 Mon Sep 17 00:00:00 2001 From: Jonas Date: Sun, 25 Feb 2024 19:29:26 +0100 Subject: [PATCH] feat: Add virtual detection area Signed-off-by: Jonas --- osi_common.proto | 13 +++++++++++++ osi_sensordata.proto | 19 +++++++++++++++++++ 2 files changed, 32 insertions(+) diff --git a/osi_common.proto b/osi_common.proto index ec84ed522..438a012cd 100644 --- a/osi_common.proto +++ b/osi_common.proto @@ -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; +} diff --git a/osi_sensordata.proto b/osi_sensordata.proto index 689149370..64ad4827e 100644 --- a/osi_sensordata.proto +++ b/osi_sensordata.proto @@ -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; + + }