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WIP: Introduce PedestrianClassification #498

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WIP: Introduce PedestrianClassification #498

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c385124
added pedestrian classification to have head pose and upper body pose…
Mar 15, 2021
2c25478
shortened the description a bit
Mar 16, 2021
5089639
Update osi_object.proto
clemenshabedank Jun 14, 2021
0758d61
Check why CI error occurs.
clemenshabedank Jun 29, 2021
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13 changes: 12 additions & 1 deletion osi_detectedobject.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -280,6 +280,8 @@ message DetectedMovingObject
//
optional MovingObject.VehicleClassification vehicle_classification = 3;

// This field might be deprecated in V4.0 due to new PedestrianClassification message.

// Pedestrian head pose for behavior prediction. Describes the head
// orientation w.r.t. the host vehicle orientation.
// The x-axis of the right-handed head frame is pointing along the
Expand All @@ -298,6 +300,8 @@ message DetectedMovingObject
//
optional Orientation3d head_pose = 4;

// This field might be deprecated in V4.0 due to new PedestrianClassification message.

// Pedestrian upper body pose for behavior prediction. Describes the
// upper body orientation w.r.t. the host vehicle orientation.
// The x-axis of the right-handed upper body frame is pointing along the
Expand All @@ -318,7 +322,14 @@ message DetectedMovingObject

// Specific information about the classification of a moving object.
//
optional MovingObject.MovingObjectClassification moving_object_classification = 6;
optional MovingObject.MovingObjectClassification moving_object_classification = 6;

// Specific information about the classification of the pedestrian.
//
// \note This field is mandatory if the \c CandidateMovingObject::type
// is \c MovingObject::TYPE_PEDESTRIAN .
//
optional MovingObject.PedestrianClassification pedestrian_classification = 7;
}

// Definition of available reference points. Left/middle/right and
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54 changes: 54 additions & 0 deletions osi_object.proto
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Expand Up @@ -359,6 +359,17 @@ message MovingObject
//
optional MovingObjectClassification moving_object_classification = 9;

// Specific information about the classification of the pedestrian.
//
// \note This field is mandatory if the \c #type is
// #TYPE_PEDESTRIAN .
//
// \rules
// check_if this.type is_equal_to 3 else do_check is_set
// \endrules
//
optional PedestrianClassification pedestrian_classification = 10;

// Definition of object types.
//
enum Type
Expand Down Expand Up @@ -826,4 +837,47 @@ message MovingObject
}
}
}

//
// \brief Information for the classification of pedestrians regarding
// \c MovingObject (host or other).
//
message PedestrianClassification
{
// The head pose describes the pedestrian's head orientation. In ground truth / traffic update it is relative to
// the global ground truth frame. In sensordata (detected pedestrians) it is relative to the host vehicle frame.
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Comment Kmeid: Host vehicle frame correct or sensor frame?

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@clemenshabedank clemenshabedank Jun 14, 2021 •
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@kmeids the description for detected pedestrians currently is:

Describes the head orientation w.r.t. the host vehicle orientation.

Indeed, I think sensor frame is better (i.e. physical mounting position / mounting position, depending on sensor technology), but after thinking about it I think it is redundant because it is specified in OSI::SensorView. Therefore, I deleted the sentences about coordinate systems in 5089639

// The x-axis of the right-handed head frame is pointing along the
// pedestrian's straight ahead viewing direction (anterior), the y-axis lateral to the left,
// and the z-axis is pointing upwards (superior) [1].
//
// ``View_normal_base_coord_system =
// Inverse_Rotation(#head_pose)*Unit_vector_x``
//
// \note This field is mandatory if the \c CandidateMovingObject.type is
// \c MovingObject::TYPE_PEDESTRIAN
//
// \par Reference:
//
// [1] Patton, K. T. & Thibodeau, G. A. (2015). <em>Anatomy & Physiology</em>. 9th Edition. Elsevier. Missouri, U.S.A. ISBN 978-0-323-34139-4. p. 1229.
//
optional Orientation3d head_pose = 1;

// The upper body pose describes the pedestrian's upper body orientation. In ground truth / traffic update it is relative to
// the global ground truth frame. In sensordata (detected pedestrians) it is relative to the host vehicle frame.
// The x-axis of the right-handed upper body frame is pointing along the
// pedestrian's upper body ventral (anterior) direction (i.e. usually
// pedestrian's intended moving direction), the y-axis lateral to the left,
// and the z-axis is pointing upwards (superior, to the pedestrian's head) [1].
//
// ``View_normal_base_coord_system =
// Inverse_Rotation(#upper_body_pose)*Unit_vector_x``
//
// \note This field is mandatory if the \c CandidateMovingObject::type
// is \c MovingObject::TYPE_PEDESTRIAN
//
// \par Reference:
// [1] Patton, K. T. & Thibodeau, G. A. (2015). <em>Anatomy & Physiology</em>. 9th Edition. Elsevier. Missouri, U.S.A. ISBN 978-0-323-34139-4. p. 1229.
//
optional Orientation3d upper_body_pose = 2;
}
}