From c45f95ec6381ff225664adfe6ee07aba77c277a6 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 | 12 ++++++++++++ osi_sensordata.proto | 19 +++++++++++++++++++ 2 files changed, 31 insertions(+) diff --git a/osi_common.proto b/osi_common.proto index 843ffcef1..7db75ca7a 100644 --- a/osi_common.proto +++ b/osi_common.proto @@ -1089,3 +1089,15 @@ message KeyValuePair // optional string value = 2; } + +// +// \brief Polygon in 3 dimensions +// +// A polygon in 3 dimensions which contains a list of vertices. +// +message Polygon3d +{ + // A list of vertices + // + repeated Vector3d vertex = 1; +} diff --git a/osi_sensordata.proto b/osi_sensordata.proto index 523cb4cfb..7dbc838db 100644 --- a/osi_sensordata.proto +++ b/osi_sensordata.proto @@ -313,4 +313,23 @@ message SensorData // in cartesian coordinates. // optional LogicalDetectionData logical_detection_data = 27; + + // + // \brief Virtual detection area of a sensor + // + // The virtual detection area describes the area 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. + // + message VirtualDetectionArea + { + // List of polygons. Each polygon represents a surface of the virtual detection area + // and is given with respect to the virtual sensor coordinate system. + // + repeated Polygon3d polygon = 1; + } + + // Virtual detection area of the sensor + // + optional VirtualDetectionArea virtual_detection_area = 28; }