Add sensor-specific data to detected stationary objects #702
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Where is the definition of the field? :) |
Already exists in sensorspecifics... |
| optional double maximum_measurement_distance_sensor = 1; | ||
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| // This value indicates the propability height for the classification in the | ||
| // This value indicates the probability height for the classification in the |
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now that I have corrected the typo I am not sure if "probability height" is even a proper english term haha
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Considering the fact that the RCS is a measured unit somehow with dependencies on frequency, viewing angle etc... maybe it is suited better in an detectedItemHeader |
Or something similar; let's see where ISO 23150 nowadays puts that information, maybe this gives a clearer picture, at least for 4.0.0; for 3.6.0 we likely should keep as similar to the moving objects as possible... |
Then I would opt for a creating an issue for a potential breaking change in v4.0.0 as the fields of movingObjekts would need to be moved as well and at the same time for consistency merge this proposal for v3.6.0 |
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As far as I can tell, sensor specific data are only referenced in moving objects in the ISO as of 2022-11-22 (even though they generically refer to a 'recognized object' in the description of RCS/lidar reflectivity). I'd also say that it generally makes sense to put it in the generic header in the longterm as they are not specific to some object type but rather a commonality among any detected objects. If this is what we want, I can create another PR for the 4.0 milestone. |
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Sensor Model WG (08.02.): No opinions on that. Passed on to harmonization WG to check with ISO23150. |
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I would say it does not matter what is written in the ISO23150. We use these information for a different purpose and you want to have this information on all objects for your sensor model, anyways. The actual sensor will calculate e.g. an RCS for any detected object, as all are potentially moving at first sight and could be actually static objects by error. So in simulation you need it on all objects to be able to replicate such erroneous detected (potentially moving) objects. |
pmai
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CCB 2023-03-13: Merge as-is. |
This addresses #462 partially, probably data should also be added to detected traffic signs and lights. Maybe add to DetectedItemHeader instead? Needs to be harmonized with ISO 23150 as well. Signed-off-by: Pierre R. Mai <[email protected]>
Signed-off-by: Carlo van Driesten <[email protected]>
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This addresses #462 partially, probably data should also be added to detected traffic signs and lights. Maybe add to DetectedItemHeader instead? Needs to be harmonized with ISO 23150 as well.