Update to perception format v1.3 (#2)

* setting ego_vehicle and not only ego_id on from_hdf5

* fix missing refactoring in vvm_definitions.h

* fix sensor area in visualizer

* [NNE (MHO)] fix sensor fov in visualizer

* [NNE (MHO)] fix objects and sensor orientation in visualizer

* [NNE (MHO)] fix default values for vru objects in visualizer after pydantic changes

BoundingBox is no longer a dataclass

* [NNE (MHO)] fix sensor direction in visualizer

* [NNE (MHO)] fix sensor direction in visualizer

* [NNE (MHO)] fix sensor fov in visualization

* [NNE (MHO)] fix object axis in visualization

* [NNE (MHO)] fix ego offset in visualization

* [NNE (MHO)] visualization refactoring

* Initialization to None for road objects in order for openDRIVE Converter to work

* fix dataclass error in road (created with previous commit)

* update weather

* [MSO] changes to reference in vvm_rec discovered when building perc/ref converter

* [NNE (MHO)] temporary disable validation

* remove check for empty array in trajectory

* [MSO] exclude same length check if length zero

* [MSO] Make changes to the length check in perc in case signals are of type not_provided

* temporary disable vel_z and acc_z and do not delete ego vehicle from road users

* perception: set pos_z to empty array by default not to zero

* Turning validation back on

* Update specification.md - removed mix up of "solid-dashed" and "dashed-solid"

* set elapsed time label to zero if visualizing data that has no timestamp vector

* Updated perception format to version 1.3

* update to empty np array in ego position of perception

* fixed import after deleting trackingPoint

* add checks if values are none in trajectory

* change type of connected_to to optional

* delete azimuth meta information

* change horizontal to range in sensor config, included max_object_tracks in config

* deleting remains of azimuth in meta objects

* changing remaining horizontal entries to range

* changed pydantic checks for sensor information

* adjsuting that TrackingPoint is no longer a class

* Update signal_list_reference.md
angels are now in deg

* Update signal_list_reference.md
heading of signs are now in deg

* Add new directory for perception doc

* Initial push of perception signal list

* Update signal_list.md to adapt layout of reference

* Upload media for perception specification

* add images to specification

* Delete image_2.png

* Upload New File

* Upload New File

* Upload New File

* Add perception specification

* Update specifcation.md

* fixed escaped chars and media links

* removed conversion hiccups, beautified version table

* Upload New image of car we are allowed to use

* Replaced tracking point car picture and added source

* Update to section 2.9 to match reference file in sciebo

* Upload New File

* Added location numbers to picture in tracking point section.  Also fixed suffix error

* Added new row to version table

* Update signal_list.md

* Update specifcation.md

* Update signal_list.md

* Update specifcation.md include link and delete page numbers in contents

* Update specifcation.md translate headings to English

* added referenceModality and customInformation field to metadata for version 3.1

* Update signal_list_reference.md

* Update specification.md

* Update specification.md

* Update specifcation.md

* Added customInformation and referenceModality to cpp library for omega format

* correct minor typo in meta_data.py

* corrections to cpp library to include changes to v3.1

* change customInformation to empty by default

* beautified header table and added bold text in general information

* resized image in tracking point and updated reference to chapter 5

* Replace image_1_fin.jpg

* added TOC up to 2.9.6

* adding TOC for section 3

* Added autogenerated toc for all sections

* hopefully made links in toc work

* adding global coordinate picture from reference doc

* Adding global coordinate system figure from reference doc

* Update specification.md

* force tracking point parsing to list

* allow zero length

* remove unecessary init.py

* move ref2perc to omega_format

Co-authored-by: Nico Neumann <nico.neumann@alumni.fh-aachen.de>
Co-authored-by: Maike Scholtes <maike.scholtes@ika.rwth-aachen.de>
Co-authored-by: Jonas Füllmar <jonas.fuellmar@ika.rwth-aachen.de>
Co-authored-by: schuldes <schuldes@localhost.localdomain>

MANIFEST.in

@@ -2,3 +2,4 @@ include omega_format/visualization/ui/main.ui
 include omega_format/visualization/ui/icon.svg
 include versioneer.py
 include omega_format/_version.py
+include omega_format/perception/config.json

cpp/include/MetaData.h

@@ -28,6 +28,9 @@ namespace omega {
         std::string weatherConverterVersion;
         std::string stateConverterVersion;
         std::string miscObjectConverterVersion;
+        std::string customInformation;
+
+        int referenceModality;
 
     public:
         // default constructor creates "empty" object

cpp/include/vvm_definitions.h

@@ -20,7 +20,7 @@
 #include "perception_types.h"
 
 #else
-#error Generated headers are missing. Generate them be executing the generate_enums.py in the vvm_recording_format/vvm_rec/enums directory.
+#error Generated headers are missing. Generate them be executing the generate_enums.py in the omega_format/enums directory.
 #endif
 
 #endif //VVM_DEFINITIONS_H

cpp/src/MetaData.cpp

@@ -12,6 +12,8 @@ namespace omega {
         refPointLat = 0.0;
         recorderNumber = VVMRecorderNumber::IKA;
         recordingNumber = 0;
+        referenceModality = 3;
+        customInformation = "";
         naturalBehavior = true;
         naturalExposure = true;
         daytime = "";
@@ -30,6 +32,9 @@ namespace omega {
         omega::add_attribute_to_group(parent_group, "refPointLat", this->refPointLat);
         omega::add_attribute_to_group(parent_group, "refPointLong", this->refPointLong);
 
+        omega::add_attribute_to_group(parent_group, "referenceModality", this->referenceModality);
+        omega::add_attribute_to_group(parent_group, "customInformation", this->customInformation);
+
         omega::add_attribute_to_group(parent_group, "daytime", this->daytime);
 
         omega::add_attribute_to_group(parent_group, "converterVersion", this->topLevelConverterVersion);
@@ -71,6 +76,9 @@ namespace omega {
         read_attribute(parent_group, "refPointLat", meta_data.refPointLat);
         read_attribute(parent_group, "refPointLong", meta_data.refPointLong);
 
+        read_attribute(parent_group, "referenceModality", meta_data.referenceModality);
+        read_attribute(parent_group, "customInformation", meta_data.customInformation);
+
         read_attribute(parent_group, "daytime", meta_data.daytime);
 
         omega::read_attribute(parent_group, "converterVersion", meta_data.topLevelConverterVersion);