FCP-5: SensorDetectedObject TMX message definition #628
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| } | ||
| static Covariance from_tree(const message_tree_type& tree){ | ||
| Covariance cov; | ||
| cov.value = tree.get<std::string>(""); |
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These will be double values.
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https://usdot-carma.atlassian.net/wiki/spaces/CRMSIM/pages/2563899417/Detected+Objects+Specification
Sample value for the covariance below:
"positionCovariance" : ["a11", "a12", "a13", "a21", "a22", "a23", "a31", "a32", "a33"]
| // Cartesian positiion of object. Assumed to be ENU coordinate frame. | ||
| tmx::utils::Point position = tmx::utils::Point(); | ||
| typedef struct Position{ |
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It may be worth while creating separate .h files for some of these classes in the messages package. This will allow reuse of these types in future messages which I think it pretty likely. It also makes this class more readable since it will not include object definitions of nest objects amongst its own member declaration
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Please add unit test covering to and from json serialization. I can provide example json payloads for testing
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Please include tests to cover to and from JSON serialization. I can provide a sample SensorDetectedObject message
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@dan-du-car We also need to add the Messages package to the sonar properties file. It does not seem to currently be added. Because of this I do not think we are getting code smells or coverage metrics to this package. |
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| TEST_F(SensorDetectedObjectTest, deserialize){ | ||
| auto tmxSdsmPtr2 = std::make_shared<SensorDetectedObject>(); | ||
| std::string expectedStr = "{\"isSimulated\":1,\"type\":\"CAR\",\"confidence\":1.0,\"sensorId\":\"IntersectionLidar\",\"projString\":\"+proj=tmerc +lat_0=0 +lon_0=0 +k=1 +x_0=0 +y_0=0 +datum=WGS84 +units=m +geoidgrids=egm96_15.gtx +vunits=m +no_defs\",\"objectId\":207,\"position\":{\"x\":-5.021,\"y\":64.234,\"z\":-10.297},\"positionCovariance\":[[0.04000000000000001,0.0,0.0],[0.0,0.04000000000000001,0.0],[0.0,0.0,0.04000000000000001]],\"velocity\":{\"x\":0.0,\"y\":0.0,\"z\":0.0},\"velocityCovariance\":[[0.04000000000000001,0.0,0.0],[0.0,0.04000000000000001,0.0],[0.0,0.0,0.04000000000000001]],\"angularVelocity\":{\"x\":0.0,\"y\":-0.0,\"z\":-0.0},\"angularVelocityCovariance\":[[0.010000000000000002,0.0,0.0],[0.0,0.010000000000000002,0.0],[0.0,0.0,0.010000000000000002]],\"size\":{\"length\":2.257,\"height\":1.003,\"width\":0.762},\"timestamp\":110200}"; |
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NIT is there a reason we are not using raw string here. Makes the input more readable.
std::string expectedStr = R"(
{
"isSimulated": 1,
"type": "CAR",
"confidence": 1,
"sensorId": "IntersectionLidar",
"projString": "+proj=tmerc +lat_0=0 +lon_0=0 +k=1 +x_0=0 +y_0=0 +datum=WGS84 +units=m +geoidgrids=egm96_15.gtx +vunits=m +no_defs",
"objectId": 207,
"position": {
"x": -5.021,
"y": 64.234,
"z": -10.297
},
"positionCovariance": [
[
0.04000000000000001,
0,
0
],
[
0,
0.04000000000000001,
0
],
[
0,
0,
0.04000000000000001
]
],
"velocity": {
"x": 0,
"y": 0,
"z": 0
},
"velocityCovariance": [
[
0.04000000000000001,
0,
0
],
[
0,
0.04000000000000001,
0
],
[
0,
0,
0.04000000000000001
]
],
"angularVelocity": {
"x": 0,
"y": 0,
"z": 0
},
"angularVelocityCovariance": [
[
0.010000000000000002,
0,
0
],
[
0,
0.010000000000000002,
0
],
[
0,
0,
0.010000000000000002
]
],
"size": {
"length": 2.257,
"height": 1.003,
"width": 0.762
},
"timestamp": 110200
}
)"
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PR Details
Description
Updating SensorDetectedObject message to allow for TMX JSON serialization/deserialization.
Related Issue
https://usdot-carma.atlassian.net/browse/FCP-5
Motivation and Context
Freight Cooperative perception
How Has This Been Tested?
Unit test
Types of changes
Checklist:
V2XHUB Contributing Guide