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OpenSimulationInterface / open-simulation-interface

A generic interface for the environmental perception of automated driving functions in virtual scenarios.
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Add Range Message to GenericSensorViewConfiguration and create new Range Message #682

Open jruebsam opened 1 year ago

jruebsam commented 1 year ago

Describe the feature

Currently only the SensorViewConfiguration message contains a range attribute. However, when using the SensorView message it is not possible to add a range information, since the SensorView only contains a GenericSensorViewConfiguration message. So my proposal would be to add an additonal range attribute to the GenericSensorViewConfiguration message. I'm curious if there is some motivation behind the current design or maybe the field is simply missing ?

Furthermore, would it be possible to add a range message which contains an upper and lower boundary? Currently the range is a only single value but for my current use case a lower boundary of the detection range would be necessary.

Describe the solution you would like

  1. Define a new range message containing a upper and lower boundary
  2. Add a range message to the GenericSensorViewConfiguration
  3. Replace range message in SensorViewConfiguration (to keep consistency)

Describe the backwards compatibility

If we change the range message this would break backward compability

Conclusion

This is a first suggestion from my side, as a first step I would appreciate some feedback. BR Jonas Ruebsam

thomassedlmayer commented 1 year ago

Definition of range:

Maximum range of the sensor. This determines the limit of the cone of interest of ground truth that the simulation environment has to provide.

As far as I understand the range and field-of-view fields in SensorViewConfiguration, they just give information on a minimal ground truth section/cut-out/cone which should be provided by the simulation environment in the corresponding SensorView message to a sensor model. I think, this information only concerns the SensorView/input and not the output of a sensor model.

Do you want to describe the range of the sensor model or what kind of range do you want to describe in the GenericSensorViewConfiguration for your use case?

jruebsam commented 1 year ago

I guess regarding the range definition the use of a minimum value is difficult to argue. Basically, I want to describe the range of the sensor model. Lets say the model acts like a simple filter for FOV and Range, then I want to transport this information e.g. to some kind of visualization tool without an additional message.