Merge branch 'feature/max_distance_hard_cut' into 'master'

Feature/max distance hard cut

See merge request tuda-fzd/perception-sensor-modeling/object-based-generic-perception-object-model!2

Author: PhRosenberger

README.md

@@ -147,7 +147,8 @@ If you would like to have a different one or if your simulation master does not
 
 | Parameter              | Description                                                  |
 | ---------------------- | ------------------------------------------------------------ |
-| max_range_in_m         | Detection range for midsize vehicle at boreside with a detection probability of 50 %. |
+| reference_range_in_m   | Detection range for mid-size vehicle (RCS = 10 dBsm) at boreside with a detection probability of 50 % |
+| max_range_in_m         | Maximum detection range due to physical limits or ambiguity regions |
 | irradiation_pattern    | Beam pattern for lidar and antenna characteristics for radar as elevation-azimuth-map with normalized values between 0 and 1 |
 | detection_thes_dB_stdv | standard deviation for the detection threshold combined with the noise floor |
 
@@ -276,7 +277,7 @@ Currently, all information on model input is passed to the output.
    * If needed, you can install it via `sudo apt-get install libprotobuf-dev protobuf-compiler`
    * or from source:
      * Download it from https://github.com/protocolbuffers/protobuf/releases/tag/v3.0.0 and extract the archive.
-     * Try to run `./autogen.sh`, if it failes, download the gmock-1.7.0.zip from https://pkgs.fedoraproject.org/repo/pkgs/gmock/gmock-1.7.0.zip/073b984d8798ea1594f5e44d85b20d66/gmock-1.7.0.zip, extract it into the protobuf folder and rename the gmock-1.7.0 folter to gmock.
+     * Try to run `./autogen.sh`, if it fails, download the gmock-1.7.0.zip from https://pkgs.fedoraproject.org/repo/pkgs/gmock/gmock-1.7.0.zip/073b984d8798ea1594f5e44d85b20d66/gmock-1.7.0.zip, extract it into the protobuf folder and rename the gmock-1.7.0 folder to gmock.
      * Proceed with the install with
      ```bash
      $ make

src/model/model_name.conf

@@ -1 +1 @@
-ObjectBasedLidarObjectModel
+ObjectBasedGenericPerceptionObjectModel

src/model/profiles/profile_MidRange_Radar.hpp.in

@@ -36,7 +36,7 @@ namespace model::profile::MidRange_Radar {
 
         MidRange_Radar.sensor_view_configuration.mutable_update_cycle_time()->set_seconds(0);
         MidRange_Radar.sensor_view_configuration.mutable_update_cycle_time()->set_nanos(40000000);
-        MidRange_Radar.sensor_view_configuration.set_range(150.0);
+        MidRange_Radar.sensor_view_configuration.set_range(200.0);
         MidRange_Radar.sensor_view_configuration.set_field_of_view_horizontal(180.0 / 180 * M_PI);
         MidRange_Radar.sensor_view_configuration.set_field_of_view_vertical(170.0 / 180 * M_PI);
         MidRange_Radar.sensor_view_configuration.mutable_mounting_position()->mutable_position()->set_x(3.82);
@@ -54,7 +54,7 @@ namespace model::profile::MidRange_Radar {
         radar_sensor_view_configuration->mutable_mounting_position()->mutable_position()->set_z(0.24);
         radar_sensor_view_configuration->mutable_mounting_position()->mutable_orientation()->set_roll(0.0);
         radar_sensor_view_configuration->mutable_mounting_position()->mutable_orientation()->set_pitch(0.0);
-        radar_sensor_view_configuration->mutable_mounting_position()->mutable_orientation()->set_yaw(0.0);
+        radar_sensor_view_configuration->mutable_mounting_position()->mutable_orientation()->set_yaw(0.0 / 180.0 * M_PI);
         radar_sensor_view_configuration->set_emitter_frequency(77000000);
 
         MidRange_Radar.sensor_parameters.radar_multipath_min_ground_clearance = 0.2;

src/model/strategies/data-extraction-strategy/profile_Ibeo_LUX_2010.hpp.in

@@ -1,8 +1,8 @@
 
         /// data_extraction_parameters
-        Ibeo_LUX_2010.data_extraction_parameters.max_range_in_m = 50.0;     //range for vehicle from ibeo ScaLa User Manual
-        //Ibeo_LUX_2010.data_extraction_parameters.max_range_in_m = 300.0;     //range for vehicle from ibeo ScaLa User Manual
+        Ibeo_LUX_2010.data_extraction_parameters.reference_range_in_m = 50;
+        Ibeo_LUX_2010.data_extraction_parameters.max_range_in_m = 1000;
         Ibeo_LUX_2010.data_extraction_parameters.irradiation_pattern.elevation = {-1.6, 1.6};
-        Ibeo_LUX_2010.data_extraction_parameters.irradiation_pattern.azimuth = {-72.0, -70.0, -60.0, -50.0, -40.0, -30.0, -20.0, -10.0, 0.0, -10.0, 20.0, 30.0, 40.0, 50.0, 60.0, 70.0, 72.0};
+        Ibeo_LUX_2010.data_extraction_parameters.irradiation_pattern.azimuth = {-72, -70, -60, -50, -40, -30, -20, -10, 0, -10, 20, 30, 40, 50, 60, 70, 72};
         Ibeo_LUX_2010.data_extraction_parameters.irradiation_pattern.elevation_azimuth_power_values = {{0.00, 0.25, 0.45, 0.60, 0.75, 0.85, 0.95, 1.00, 1.00, 1.00, 0.95, 0.90, 0.75, 0.55, 0.32, 0.30, 0.00}, {0.00, 0.25, 0.45, 0.60, 0.75, 0.85, 0.95, 1.00, 1.00, 1.00, 0.95, 0.90, 0.75, 0.55, 0.32, 0.30, 0.00}}; //from Valeo SCALA User Manual
-        Ibeo_LUX_2010.data_extraction_parameters.detection_threshold_dB_stdv = 3.0;
+        Ibeo_LUX_2010.data_extraction_parameters.detection_threshold_dB_stdv = 3;

src/model/strategies/data-extraction-strategy/profile_LongRange_Radar.hpp.in

@@ -1,7 +1,8 @@
 
         /// data_extraction_parameters
-        LongRange_Radar.data_extraction_parameters.max_range_in_m = 300.0;
-        LongRange_Radar.data_extraction_parameters.irradiation_pattern.elevation = {-10.0, 10.0};
-        LongRange_Radar.data_extraction_parameters.irradiation_pattern.azimuth = {-30.0, -20.0, -10.0, 0.0, 10.0, 20.0, 30.0};
-        LongRange_Radar.data_extraction_parameters.irradiation_pattern.elevation_azimuth_power_values = {{0, 0.75, 1.00, 1.00, 1.00, 0.75, 0}, {0, 0.75, 1.00, 1.00, 1.00, 0.75, 0.0}};
-        LongRange_Radar.data_extraction_parameters.detection_threshold_dB_stdv = 3.0;
+        LongRange_Radar.data_extraction_parameters.reference_range_in_m = 200;
+        LongRange_Radar.data_extraction_parameters.max_range_in_m = 250;
+        LongRange_Radar.data_extraction_parameters.irradiation_pattern.elevation = {-10, 10};
+        LongRange_Radar.data_extraction_parameters.irradiation_pattern.azimuth = {-30, -20, -10, 0, 10, 20, 30};
+        LongRange_Radar.data_extraction_parameters.irradiation_pattern.elevation_azimuth_power_values = {{0, 0.75, 1.00, 1.00, 1.00, 0.75, 0}, {0, 0.75, 1.00, 1.00, 1.00, 0.75, 0}};
+        LongRange_Radar.data_extraction_parameters.detection_threshold_dB_stdv = 3;

src/model/strategies/data-extraction-strategy/profile_MidRange_Radar.hpp.in

@@ -1,7 +1,8 @@
 
         /// data_extraction_parameters
-        MidRange_Radar.data_extraction_parameters.max_range_in_m = 100.0;
-        MidRange_Radar.data_extraction_parameters.irradiation_pattern.elevation = {-10.0, 10.0};
-        MidRange_Radar.data_extraction_parameters.irradiation_pattern.azimuth = {-60.0, -50.0, -40.0, -30.0, -20.0, -10.0, 0.0, 10.0, 20.0, 30.0, 40.0, 50.0, 60.0};
-        MidRange_Radar.data_extraction_parameters.irradiation_pattern.elevation_azimuth_power_values = {{0.0, 0.20, 0.50, 0.80, 0.90, 1.00, 1.00, 1.00, 0.90, 0.80, 0.50, 0.20, 0.0}, {0.0, 0.20, 0.50, 0.80, 0.90, 1.00, 1.00, 1.00, 0.90, 0.80, 0.50, 0.20, 0.0}};
-        MidRange_Radar.data_extraction_parameters.detection_threshold_dB_stdv = 3.0;
+        MidRange_Radar.data_extraction_parameters.reference_range_in_m = 120;
+        MidRange_Radar.data_extraction_parameters.max_range_in_m = 150;
+        MidRange_Radar.data_extraction_parameters.irradiation_pattern.elevation = {-10, 10};
+        MidRange_Radar.data_extraction_parameters.irradiation_pattern.azimuth = {-60, -42, -25, -10, -9, -6, 0, 6, 9, 10, 25, 42, 60};
+        MidRange_Radar.data_extraction_parameters.irradiation_pattern.elevation_azimuth_power_values = {{0, 0.075, 0.225, 0.375, 0.625, 1.00, 1.00, 1.00, 0.625, 0.375, 0.225, 0.075, 0}, {0, 0.075, 0.225, 0.375, 0.625, 1.00, 1.00, 1.00, 0.625, 0.375, 0.225, 0.075, 0}};
+        MidRange_Radar.data_extraction_parameters.detection_threshold_dB_stdv = 3;

src/model/strategies/data-extraction-strategy/profile_SCALA_1.hpp.in

@@ -1,7 +1,8 @@
 
         /// data_extraction_parameters
-        SCALA_1.data_extraction_parameters.max_range_in_m = 300.0;     //range for vehicle from ibeo ScaLa User Manual
+        SCALA_1.data_extraction_parameters.reference_range_in_m = 300;     //range for vehicle from ibeo ScaLa User Manual
+        SCALA_1.data_extraction_parameters.max_range_in_m = 1000;
         SCALA_1.data_extraction_parameters.irradiation_pattern.elevation = {-1.6, 1.6};
-        SCALA_1.data_extraction_parameters.irradiation_pattern.azimuth = {-72.0, -70.0, -60.0, -50.0, -40.0, -30.0, -20.0, -10.0, -10.0, 0.0, 20.0, 30.0, 40.0, 50.0, 60.0, 70.0, 72.0};
+        SCALA_1.data_extraction_parameters.irradiation_pattern.azimuth = {-72, -70, -60, -50, -40, -30, -20, -10, -10, 0, 20, 30, 40, 50, 60, 70, 72};
         SCALA_1.data_extraction_parameters.irradiation_pattern.elevation_azimuth_power_values = {{0.00, 0.25, 0.45, 0.60, 0.75, 0.85, 0.95, 1.00, 1.00, 1.00, 0.95, 0.90, 0.75, 0.55, 0.32, 0.30, 0.00}, {0.00, 0.25, 0.45, 0.60, 0.75, 0.85, 0.95, 1.00, 1.00, 1.00, 0.95, 0.90, 0.75, 0.55, 0.32, 0.30, 0.00}}; //from Valeo SCALA User Manual
-        SCALA_1.data_extraction_parameters.detection_threshold_dB_stdv = 3.0;
+        SCALA_1.data_extraction_parameters.detection_threshold_dB_stdv = 3;

src/model/strategies/data-extraction-strategy/profile_struct.hpp.in

@@ -1,6 +1,7 @@
 
     struct data_extraction_parameters {
-        float max_range_in_m;           //maximum detection range for midsize vehicle (10 dBsm for radar) at bore sight
+        float reference_range_in_m;         //maximum detection range for midsize vehicle (10 dBsm for radar) at bore sight
+        float max_range_in_m;               //maximum detection range due to physical limits or ambiguity regions
         struct irradiation_pattern {        //beam pattern for lidar and antenna characteristics for radar
             std::vector<float> elevation;
             std::vector<float> azimuth;

src/model/strategies/data-extraction-strategy/src/DataExtractionStrategy.cpp

@@ -105,26 +105,28 @@ void DataExtractionStrategy::process_vertices_from_one_object(const std::vector<
         wave_length = Speed_of_Light / profile.sensor_view_configuration.radar_sensor_view_configuration(0).emitter_frequency();
         float rcs_dbsm_threshold = 10;
         equivalent_reflecting_area_threshold = (float)pow(10.0, rcs_dbsm_threshold / 10);
-        detection_threshold_dB = float(10.0 * log10(pow(wave_length, 2) * equivalent_reflecting_area_threshold / pow(profile.data_extraction_parameters.max_range_in_m, 4)));
+        detection_threshold_dB = float(10.0 * log10(pow(wave_length, 2) * equivalent_reflecting_area_threshold / pow(profile.data_extraction_parameters.reference_range_in_m, 4)));
         power_equivalent_area = get_rcs_in_sm(sensor_data, detection_data_of_current_object.detection(0).object_id().value());
 
     } else { // lidar
         wave_length = Speed_of_Light / profile.sensor_view_configuration.lidar_sensor_view_configuration(0).emitter_frequency();
         equivalent_reflecting_area_threshold = 2.5;
-        detection_threshold_dB = float(10.0 * log10(pow(wave_length, 2) * equivalent_reflecting_area_threshold / pow(profile.data_extraction_parameters.max_range_in_m, 4)));
+        detection_threshold_dB = float(10.0 * log10(pow(wave_length, 2) * equivalent_reflecting_area_threshold / pow(profile.data_extraction_parameters.reference_range_in_m, 4)));
         power_equivalent_area = calc_visible_area(proj_vertices_current_obj, mean_vertex_position_of_current_object.distance());
     }
 
     double irradiation_gain = calculate_irradiation_gain(mean_vertex_position_of_current_object.azimuth(), mean_vertex_position_of_current_object.elevation());
 
     double distance = mean_vertex_position_of_current_object.distance();
-    double power_equivalent_value_db = double(10.0 * log10(std::pow(wave_length, 2) * irradiation_gain * power_equivalent_area / std::pow(distance, 4)));
-	if (profile.data_extraction_parameters.detection_threshold_dB_stdv > 0.0) {
+
+    auto power_equivalent_value_db = double(10.0 * log10(std::pow(wave_length, 2) * irradiation_gain * power_equivalent_area / std::pow(distance, 4)));
+    if (profile.data_extraction_parameters.detection_threshold_dB_stdv > 0.0) {
 		std::normal_distribution<double> distribution(0.0, profile.data_extraction_parameters.detection_threshold_dB_stdv); // dist(mean, stddev), normal distribution with stddev in dB
 		std::knuth_b generator(std::rand()); // rand used for Windows compatibility
-		detection_threshold_dB += distribution(generator);
+        detection_threshold_dB += distribution(generator);
 	}
-    bool is_detected = power_equivalent_value_db > detection_threshold_dB;
+    bool is_detected = mean_vertex_position_of_current_object.distance() < profile.data_extraction_parameters.max_range_in_m &&
+                       power_equivalent_value_db > detection_threshold_dB;
 
     if(is_detected) {
         transform_detections_to_logical_detections(sensor_data, detection_data_of_current_object, ego_data);

src/model/strategies/tracking-strategy/profile_LongRange_Radar.hpp.in

@@ -9,12 +9,12 @@
                                                                         // 4 = mean dimension of current and historical point cloud segments with lower bounds, position as center of manipulated pcl segment;
         LongRange_Radar.tracking_parameters.minimum_object_dimension.set_length(0.8); // Minimum length in m for detected objects
         LongRange_Radar.tracking_parameters.minimum_object_dimension.set_width(0.5);  // Minimum width in m for  detected objects
-        LongRange_Radar.tracking_parameters.minimum_object_dimension.set_height(2);   // Minimum height in m for detected objects
+        LongRange_Radar.tracking_parameters.minimum_object_dimension.set_height(2.0);   // Minimum height in m for detected objects
         LongRange_Radar.tracking_parameters.historical_limit_dimension = 3;           // Limits the historical data used for historical mean dimension calculation
         LongRange_Radar.tracking_parameters.velocity_flag = 1;             // 0 = from ground truth; 1 = derivation of position
         LongRange_Radar.tracking_parameters.historical_limit_velocity = 10; // Limits the historical data used for velocity calculation by position differentiation
         LongRange_Radar.tracking_parameters.tracking_flag = 1;                                     // 0 = ideal (track all ground truth objects); 1 = realistic lidar tracking behaviour
         LongRange_Radar.tracking_parameters.existence_probability_threshold_for_tracking = 0.5;    // Threshold for existence probability, tracking is enabled above threshold
         LongRange_Radar.tracking_parameters.min_detections_in_segment_for_tracking = 3;            // Minimum no. of detections per segment to track it
         LongRange_Radar.tracking_parameters.existence_probability_increment = 0.2;    // Increment for existence probability
-        LongRange_Radar.tracking_parameters.existence_probability_decrement = 0.055;   // Decrement for existence probability
+        LongRange_Radar.tracking_parameters.existence_probability_decrement = 0.2;   // Decrement for existence probability

src/model/strategies/tracking-strategy/profile_MidRange_Radar.hpp.in

@@ -9,12 +9,12 @@
                                                                         // 4 = mean dimension of current and historical point cloud segments with lower bounds, position as center of manipulated pcl segment;
         MidRange_Radar.tracking_parameters.minimum_object_dimension.set_length(0.8); // Minimum length in m for detected objects
         MidRange_Radar.tracking_parameters.minimum_object_dimension.set_width(0.5);  // Minimum width in m for  detected objects
-        MidRange_Radar.tracking_parameters.minimum_object_dimension.set_height(2);   // Minimum height in m for detected objects
+        MidRange_Radar.tracking_parameters.minimum_object_dimension.set_height(2.0);   // Minimum height in m for detected objects
         MidRange_Radar.tracking_parameters.historical_limit_dimension = 3;           // Limits the historical data used for historical mean dimension calculation
         MidRange_Radar.tracking_parameters.velocity_flag = 1;             // 0 = from ground truth; 1 = derivation of position
         MidRange_Radar.tracking_parameters.historical_limit_velocity = 10; // Limits the historical data used for velocity calculation by position differentiation
         MidRange_Radar.tracking_parameters.tracking_flag = 1;                                     // 0 = ideal (track all ground truth objects); 1 = realistic lidar tracking behaviour
         MidRange_Radar.tracking_parameters.existence_probability_threshold_for_tracking = 0.5;    // Threshold for existence probability, tracking is enabled above threshold
         MidRange_Radar.tracking_parameters.min_detections_in_segment_for_tracking = 3;            // Minimum no. of detections per segment to track it
         MidRange_Radar.tracking_parameters.existence_probability_increment = 0.2;    // Increment for existence probability
-        MidRange_Radar.tracking_parameters.existence_probability_decrement = 0.055;   // Decrement for existence probability
+        MidRange_Radar.tracking_parameters.existence_probability_decrement = 0.2;   // Decrement for existence probability

src/model/strategies/tracking-strategy/profile_struct.hpp.in

@@ -1,6 +1,5 @@
 
     struct tracking_parameters {
-        bool is_radar;                          // true = radar tracking; false = lidar tracking
         uint64_t classification_flag;           // 0 = from ground truth; 1 = all "UNKNOWN"
         uint64_t orientation_flag;              // 0 = from ground truth; 1 = from current point cloud segment;
         uint64_t dimension_and_position_flag;   // 0 = from ground truth;