From 98bc235163def377861e6236f8d5eff78c966fc8 Mon Sep 17 00:00:00 2001 From: "Rosenberger, Philipp" Date: Wed, 27 Jan 2021 21:54:55 +0100 Subject: [PATCH 1/5] echo_pulse_width added in osi_featuredata.proto for message LidarDetection. Signed-off-by: Rosenberger, Philipp --- osi_featuredata.proto | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/osi_featuredata.proto b/osi_featuredata.proto index 328030657..6e98f370e 100644 --- a/osi_featuredata.proto +++ b/osi_featuredata.proto @@ -449,6 +449,16 @@ message LidarDetection // Lambertian reflectivity. // optional double reflectivity = 10; + + // Echo pulse width of the detection's echo. + // + // Unit: m + // + // \rules + // is_greater_than_or_equal_to: 0 + // \endrules + // + optional double echo_pulse_width = 11; } // From 115cb4ee84bc7979f07a387d41a055375def4281 Mon Sep 17 00:00:00 2001 From: "Rosenberger, Philipp" Date: Mon, 10 May 2021 14:51:05 +0200 Subject: [PATCH 2/5] Explanation and reference with figures added. Signed-off-by: Rosenberger, Philipp --- osi_featuredata.proto | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/osi_featuredata.proto b/osi_featuredata.proto index 6e98f370e..e8f5696b2 100644 --- a/osi_featuredata.proto +++ b/osi_featuredata.proto @@ -451,6 +451,10 @@ message LidarDetection optional double reflectivity = 10; // Echo pulse width of the detection's echo. + // Several sensors output an echo-pulse width instead of an intensity for each single detection. + // It is measured in m and measures the extend of the object parts or atmospheric particles that produce the echo. + // As an example, it is depicted for the two echos reflected from the edges A-B and C-D in Fig. 7 from [Rosenberger et al.](https://link.springer.com/content/pdf/10.1007/s41104-020-00066-x.pdf). + // Fig. 8 [Rosenberger et al.](https://link.springer.com/content/pdf/10.1007/s41104-020-00066-x.pdf) shows it in more detail, as the echo-pulse width is measured as the range between the rising and falling edge crossing the intensity threshold. // // Unit: m // From ed166bb3b5223529ae6a35ebc402684afd181900 Mon Sep 17 00:00:00 2001 From: Stefan Cyliax Date: Thu, 16 Sep 2021 16:49:48 +0200 Subject: [PATCH 3/5] Fixed indentation that used tabs instead of spaces Signed-off-by: Stefan Cyliax --- osi_featuredata.proto | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/osi_featuredata.proto b/osi_featuredata.proto index e8f5696b2..034e08c4f 100644 --- a/osi_featuredata.proto +++ b/osi_featuredata.proto @@ -451,10 +451,10 @@ message LidarDetection optional double reflectivity = 10; // Echo pulse width of the detection's echo. - // Several sensors output an echo-pulse width instead of an intensity for each single detection. - // It is measured in m and measures the extend of the object parts or atmospheric particles that produce the echo. - // As an example, it is depicted for the two echos reflected from the edges A-B and C-D in Fig. 7 from [Rosenberger et al.](https://link.springer.com/content/pdf/10.1007/s41104-020-00066-x.pdf). - // Fig. 8 [Rosenberger et al.](https://link.springer.com/content/pdf/10.1007/s41104-020-00066-x.pdf) shows it in more detail, as the echo-pulse width is measured as the range between the rising and falling edge crossing the intensity threshold. + // Several sensors output an echo-pulse width instead of an intensity for each single detection. + // It is measured in m and measures the extend of the object parts or atmospheric particles that produce the echo. + // As an example, it is depicted for the two echos reflected from the edges A-B and C-D in Fig. 7 from [Rosenberger et al.](https://link.springer.com/content/pdf/10.1007/s41104-020-00066-x.pdf). + // Fig. 8 [Rosenberger et al.](https://link.springer.com/content/pdf/10.1007/s41104-020-00066-x.pdf) shows it in more detail, as the echo-pulse width is measured as the range between the rising and falling edge crossing the intensity threshold. // // Unit: m // From 40a6ab30d8c01648d657016dcce596aad15fdfe0 Mon Sep 17 00:00:00 2001 From: Fabian Klopfer Date: Fri, 17 Sep 2021 09:57:48 +0200 Subject: [PATCH 4/5] Linguistic review Signed-off-by: Pierre R. Mai --- osi_featuredata.proto | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/osi_featuredata.proto b/osi_featuredata.proto index 034e08c4f..74d036308 100644 --- a/osi_featuredata.proto +++ b/osi_featuredata.proto @@ -451,10 +451,10 @@ message LidarDetection optional double reflectivity = 10; // Echo pulse width of the detection's echo. - // Several sensors output an echo-pulse width instead of an intensity for each single detection. - // It is measured in m and measures the extend of the object parts or atmospheric particles that produce the echo. - // As an example, it is depicted for the two echos reflected from the edges A-B and C-D in Fig. 7 from [Rosenberger et al.](https://link.springer.com/content/pdf/10.1007/s41104-020-00066-x.pdf). - // Fig. 8 [Rosenberger et al.](https://link.springer.com/content/pdf/10.1007/s41104-020-00066-x.pdf) shows it in more detail, as the echo-pulse width is measured as the range between the rising and falling edge crossing the intensity threshold. + // Several sensors output an echo pulse width instead of an intensity for each individual detection. + // The echo pulse is measured in m and measures the extent of the object parts or atmospheric particles that produce the echo. + // Fig. 7 shows an example where the two echos are reflected from the edges A-B and C-D. For more details, see [Rosenberger et al.](https://link.springer.com/content/pdf/10.1007/s41104-020-00066-x.pdf). + // Fig. 8 shows how the echo pulse width is measured as the range between the rising edge and the falling edge that crosses the intensity threshold. For more details, see [Rosenberger et al.](https://link.springer.com/content/pdf/10.1007/s41104-020-00066-x.pdf). // // Unit: m // From db8608e5c9abf382da5c4d82405eff9d21fc248f Mon Sep 17 00:00:00 2001 From: Stefan Cyliax Date: Wed, 13 Oct 2021 15:38:37 +0200 Subject: [PATCH 5/5] correct citation for external source Signed-off-by: Stefan Cyliax --- osi_featuredata.proto | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/osi_featuredata.proto b/osi_featuredata.proto index 74d036308..27d7bcbf9 100644 --- a/osi_featuredata.proto +++ b/osi_featuredata.proto @@ -453,8 +453,9 @@ message LidarDetection // Echo pulse width of the detection's echo. // Several sensors output an echo pulse width instead of an intensity for each individual detection. // The echo pulse is measured in m and measures the extent of the object parts or atmospheric particles that produce the echo. - // Fig. 7 shows an example where the two echos are reflected from the edges A-B and C-D. For more details, see [Rosenberger et al.](https://link.springer.com/content/pdf/10.1007/s41104-020-00066-x.pdf). - // Fig. 8 shows how the echo pulse width is measured as the range between the rising edge and the falling edge that crosses the intensity threshold. For more details, see [Rosenberger et al.](https://link.springer.com/content/pdf/10.1007/s41104-020-00066-x.pdf). + // \note For more details see [1] Fig. 7 and 8. + // \note Fig. 7 shows an example where the two echos are reflected from the edges A-B and C-D. + // \note Fig. 8 shows how the echo pulse width is measured as the range between the rising edge and the falling edge that crosses the intensity threshold. // // Unit: m // @@ -462,6 +463,9 @@ message LidarDetection // is_greater_than_or_equal_to: 0 // \endrules // + // \par Reference: + // [1] Rosenberger, P., Holder, M.F., Cianciaruso, N. et al. (2020). Sequential lidar sensor system simulation: a modular approach for simulation-based safety validation of automated driving Automot. Engine Technol. 5, Fig 7, Fig 8. Retrieved May 10, 2021, from https://doi.org/10.1007/s41104-020-00066-x + // optional double echo_pulse_width = 11; }