From c38512445de3f036aedd97d86128ad17306cd33c Mon Sep 17 00:00:00 2001 From: Habedank Clemens Date: Mon, 15 Mar 2021 16:27:02 +0100 Subject: [PATCH 1/4] added pedestrian classification to have head pose and upper body pose in sensorview and sensordata --- osi_detectedobject.proto | 13 ++++++++- osi_object.proto | 60 ++++++++++++++++++++++++++++++++++++++++ 2 files changed, 72 insertions(+), 1 deletion(-) diff --git a/osi_detectedobject.proto b/osi_detectedobject.proto index 83a9ab598..9d5a93ad6 100644 --- a/osi_detectedobject.proto +++ b/osi_detectedobject.proto @@ -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 @@ -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 @@ -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 diff --git a/osi_object.proto b/osi_object.proto index cb0b80b5d..7b182a047 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -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 @@ -826,4 +837,53 @@ message MovingObject } } } + + // + // \brief Information for the classification of pedestrians regarding + // \c MovingObject (host or other). + // + message PedestrianClassification + { + // The orientations from pedestrians in ground truth or traffic update are relative to + // the global ground truth frame. The orientations + // from detected pedestrians are relative to the host vehicle frame. + + // The head pose describes the pedestrian's head orientation. + // 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). Anatomy & Physiology. 9th Edition. Elsevier. Missouri, U.S.A. ISBN 978-0-323-34139-4. p. 1229. + // + optional Orientation3d head_pose = 1; + + // The orientations from pedestrians in ground truth or traffic update are relative to + // the global ground truth frame. The orientations + // from detected pedestrians are relative to the host vehicle frame. + + // The upper body pose describes the pedestrian's upper body orientation. + // 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). Anatomy & Physiology. 9th Edition. Elsevier. Missouri, U.S.A. ISBN 978-0-323-34139-4. p. 1229. + // + optional Orientation3d upper_body_pose = 2; + } } From 2c25478ed3674926a05ba6da384511da7a4802bb Mon Sep 17 00:00:00 2001 From: Habedank Clemens Date: Tue, 16 Mar 2021 08:52:42 +0100 Subject: [PATCH 2/4] shortened the description a bit --- osi_object.proto | 14 ++++---------- 1 file changed, 4 insertions(+), 10 deletions(-) diff --git a/osi_object.proto b/osi_object.proto index 7b182a047..62041f575 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -844,11 +844,8 @@ message MovingObject // message PedestrianClassification { - // The orientations from pedestrians in ground truth or traffic update are relative to - // the global ground truth frame. The orientations - // from detected pedestrians are relative to the host vehicle frame. - - // The head pose describes the pedestrian's head orientation. + // 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. // 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]. @@ -865,11 +862,8 @@ message MovingObject // optional Orientation3d head_pose = 1; - // The orientations from pedestrians in ground truth or traffic update are relative to - // the global ground truth frame. The orientations - // from detected pedestrians are relative to the host vehicle frame. - - // The upper body pose describes the pedestrian's upper body orientation. + // 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, From 508963960ef93358d1a85c027eca7106da4de54f Mon Sep 17 00:00:00 2001 From: clemenshabedank Date: Mon, 14 Jun 2021 14:45:05 +0200 Subject: [PATCH 3/4] Update osi_object.proto Deleting sentences about coordinate systems, since it is redundant information. --- osi_object.proto | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/osi_object.proto b/osi_object.proto index 62041f575..507103802 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -844,8 +844,7 @@ message MovingObject // 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. + // The head pose describes the pedestrian's head orientation. // 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]. @@ -862,8 +861,7 @@ message MovingObject // 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 upper body pose describes the pedestrian's upper body orientation. // 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, From 0758d619ea0a42a87bd3320e495d68240a1a958e Mon Sep 17 00:00:00 2001 From: clemenshabedank Date: Tue, 29 Jun 2021 11:16:39 +0200 Subject: [PATCH 4/4] Check why CI error occurs. --- osi_object.proto | 4 ---- 1 file changed, 4 deletions(-) diff --git a/osi_object.proto b/osi_object.proto index 507103802..3bd80f3ec 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -364,10 +364,6 @@ message MovingObject // \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.