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Add global model reference to ground truth #408

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Merged
merged 2 commits into from
Dec 9, 2020
Merged

Add global model reference to ground truth #408

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Add global model reference to ground truth
pmai Jul 16, 2020
711250d
fix(docs): linguistic review
paagkame Dec 4, 2020
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16 changes: 16 additions & 0 deletions osi_groundtruth.proto
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Expand Up @@ -155,4 +155,20 @@ message GroundTruth
// \note It is implementation-specific how map_reference is resolved.
//
optional string map_reference = 15;

// Opaque reference of an associated 3D model.
//
// The model covers the static parts of the environment that are not
// provided as individual models referenced from ground truth objects
// like moving or stationary objects.
//
// \note Origin and orientation of the model have to coincide with the
// inertial coordinate frame of the ground truth.
//
// \note It is implementation-specific how model_references are resolved to
// 3d models. The parts the world model contains are also implementation-specific.
// For example, the world model can wether contain street geometries or
// derives street geometies automatically from a map reference.
//
optional string model_reference = 16;
}