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jdsikaCopilot
jdsika
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Copilot
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Refactor: reuse PedestrianAttributes.Bone instead of duplicating
Address review feedback by removing the PersonSkeleton message from osi_common.proto and instead directly reusing MovingObject.PedestrianAttributes.Bone in the new Occupant.Skeleton message. This avoids type duplication entirely. The Occupant.Skeleton wrapper message provides its own bbcenter_to_root (offset from vehicle bounding box center) while referencing the existing Bone type for the skeleton hierarchy. Migration notes on both PedestrianAttributes and Occupant.Skeleton document the plan to introduce a common skeleton type in OSI 4. Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
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Lines changed: 48 additions & 226 deletions

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‎osi_common.proto‎

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@@ -1104,216 +1104,3 @@ message Polygon3d
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//
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repeated Vector3d vertex = 1;
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}
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//
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// \brief A skeleton representing the posture of a person.
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//
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// This is a generic skeleton model that can be used for any person
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// representation, such as vehicle occupants or pedestrians.
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//
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// The skeleton is defined relative to a root point. The root point itself
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// is positioned relative to the bounding box center of the containing
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// entity using \c #bbcenter_to_root.
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//
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// \note The \c Bone message and \c Bone::Type enum are structurally
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// equivalent to the ones defined in
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// \c MovingObject::PedestrianAttributes::Bone. The duplication exists
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// because Protocol Buffers does not support message type aliases,
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// and \c PedestrianAttributes::Bone cannot be changed without a breaking
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// change. In OSI 4, \c MovingObject::PedestrianAttributes is planned to
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// adopt this common \c PersonSkeleton type, eliminating the duplication.
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//
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message PersonSkeleton
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{
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// Position offset from the bounding box center of the containing entity
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// to the current position of the root point of the skeleton model.
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//
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// For an occupant this is the offset from the vehicle's bounding box
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// center (\c MovingObject::base . \c BaseMoving::position) to the
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// skeleton root, analogous to
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// \c MovingObject::VehicleAttributes::bbcenter_to_rear.
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//
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// For a pedestrian this is the offset from the pedestrian's bounding
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// box center to the skeleton root, analogous to
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// \c MovingObject::PedestrianAttributes::bbcenter_to_root.
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//
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optional Vector3d bbcenter_to_root = 1;
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// List of all bones of the person.
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//
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// The number of bones may vary, based on the detail level of
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// the model used. For example, some simulators will not include
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// detailed data about the hands.
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//
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// \note A bone of each type can be provided, or left out, depending
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// on the desired level of detail, or available data. However, if a
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// bone is defined, all bones in the chain from that bone back to
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// the root point must be provided to create a complete chain.
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//
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repeated Bone skeleton_bone = 2;
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//
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// \brief A bone in the skeleton of a person.
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//
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// Each point represents a joint, or otherwise important point in the
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// skeleton. For example pelvis, knee or shoulder. The naming convention
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// should be followed for identifying bones.
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//
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// \note This message is structurally equivalent to
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// \c MovingObject::PedestrianAttributes::Bone. See the note on
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// \c PersonSkeleton for the rationale behind the duplication.
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//
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message Bone
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{
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// Bones are identified by their type, combined with which body side
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// they are on.
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//
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// To properly identify the bones the pre-defined naming convention
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// must be used.
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//
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// \image html OSI_SkeletonNamingConvention.svg
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//
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// A bone's name, position, and orientation is defined by the end-point
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// closer to the root. For example: the "LOWER_ARM_L" will define the
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// point in the left elbow of the model.
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//
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// If a bone which is more than one layer detached from the
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// root point is used, all bones between that bone and the root also
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// need to be defined in order to create a complete chain!
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//
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// If information about bones are missing, they may be left empty.
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//
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optional Type type = 1;
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// Position of the bone.
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//
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// Reference system is the root, defined by
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// \c PersonSkeleton::bbcenter_to_root.
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//
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optional Vector3d position = 2;
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// Orientation of the bone.
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//
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// Reference system is the root, defined by
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// \c PersonSkeleton::bbcenter_to_root.
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//
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optional Orientation3d orientation = 3;
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// Length of the bone.
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//
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// Measured along its major axis.
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//
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// Unit: m
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//
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optional float length = 4;
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// Determines whether a bone is explicitly missing from the model.
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//
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// In case a person has missing limbs this can be explicitly
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// communicated by setting this boolean to TRUE.
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//
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optional bool missing = 5;
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// The velocity of the bone.
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//
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// Reference system is the root, defined by
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// \c PersonSkeleton::bbcenter_to_root.
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//
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optional Vector3d velocity = 6;
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// The orientation rate of the bone.
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//
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// Reference system is the root, defined by
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// \c PersonSkeleton::bbcenter_to_root.
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//
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optional Orientation3d orientation_rate = 7;
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// The type of the bone.
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//
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// \image html OSI_PedestrianModelHierarchy.jpg
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//
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enum Type
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{
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// Root point of the person. Defined by
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// \c PersonSkeleton::bbcenter_to_root.
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//
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TYPE_ROOT = 0;
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// Bone defining the hip.
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//
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TYPE_HIP = 1;
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// Bone defining the lower part of the spine.
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//
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TYPE_LOWER_SPINE = 2;
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// Bone defining the upper part of the spine.
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//
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TYPE_UPPER_SPINE = 3;
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// Bone defining the neck.
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//
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TYPE_NECK = 4;
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// Bone defining the head.
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//
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TYPE_HEAD = 5;
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// Bone defining the left shoulder.
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//
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TYPE_SHOULDER_L = 6;
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// Bone defining the right shoulder.
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//
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TYPE_SHOULDER_R = 7;
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// Bone defining the left upper arm.
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//
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TYPE_UPPER_ARM_L = 8;
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// Bone defining the right upper arm.
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//
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TYPE_UPPER_ARM_R = 9;
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// Bone defining the left forearm.
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//
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TYPE_LOWER_ARM_L = 10;
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// Bone defining the right forearm.
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//
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TYPE_LOWER_ARM_R = 11;
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// Bone defining the left hand.
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//
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TYPE_FULL_HAND_L = 12;
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// Bone defining the right hand.
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//
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TYPE_FULL_HAND_R = 13;
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// Bone defining the left thigh.
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//
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TYPE_UPPER_LEG_L = 14;
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// Bone defining the right thigh.
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//
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TYPE_UPPER_LEG_R = 15;
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// Bone defining the left shin.
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//
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TYPE_LOWER_LEG_L = 16;
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// Bone defining the right shin.
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//
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TYPE_LOWER_LEG_R = 17;
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// Bone defining the left foot.
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//
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TYPE_FULL_FOOT_L = 18;
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// Bone defining the right foot.
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//
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TYPE_FULL_FOOT_R = 19;
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}
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}
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}

‎osi_object.proto‎

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@@ -1302,12 +1302,10 @@ message MovingObject
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// This is an extension to the \c MovingObject with additional information
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// describing a pedestrian in more detail.
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//
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// \note The skeleton data (\c #bbcenter_to_root and \c Bone) in this
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// message is structurally equivalent to the common
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// \c PersonSkeleton type defined in osi_common.proto. In OSI 4, this
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// message is planned to use \c PersonSkeleton directly, replacing the
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// local definitions. For new integrations, consider using
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// \c PersonSkeleton where possible.
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// \note The \c Bone type defined in this message is also reused by
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// \c Occupant::Skeleton for vehicle occupant pose representation.
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// In OSI 4, a common skeleton type is planned to replace both
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// usages.
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//
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message PedestrianAttributes
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{

‎osi_occupant.proto‎

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@@ -3,6 +3,7 @@ syntax = "proto2";
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option optimize_for = SPEED;
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import "osi_common.proto";
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import "osi_object.proto";
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package osi3;
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@@ -39,15 +40,51 @@ message Occupant
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// The skeleton of the occupant.
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//
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// The skeleton represents the posture and body structure of the occupant
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// within the host vehicle. Bone positions and orientations are defined
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// relative to the skeleton root point.
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// within the host vehicle.
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//
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// The \c PersonSkeleton::bbcenter_to_root field provides the offset
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// from the vehicle's bounding box center
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// (\c MovingObject::base . \c BaseMoving::position) to the skeleton
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// root point.
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optional Skeleton skeleton = 4;
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//
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// \brief Skeleton data describing the posture of the occupant.
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//
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// The skeleton is defined relative to a root point. The root point
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// itself is positioned relative to the vehicle's bounding box center
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// using \c #bbcenter_to_root.
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//
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optional PersonSkeleton skeleton = 4;
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// \note This message reuses
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// \c MovingObject::PedestrianAttributes::Bone to avoid type
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// duplication. In OSI 4, a common skeleton type is planned to
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// replace both this and \c MovingObject::PedestrianAttributes.
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//
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message Skeleton
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{
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// Position offset from the vehicle's bounding box center
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// (\c MovingObject::base . \c BaseMoving::position) to the
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// current position of the root point of the skeleton model,
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// analogous to
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// \c MovingObject::VehicleAttributes::bbcenter_to_rear.
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//
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optional Vector3d bbcenter_to_root = 1;
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// List of all bones of the occupant.
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//
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// The number of bones may vary, based on the detail level of
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// the model used. For example, some simulators will not include
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// detailed data about the hands of an occupant.
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//
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// \note A bone of each type can be provided, or left out,
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// depending on the desired level of detail, or available data.
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// However, if a bone is defined, all bones in the chain from
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// that bone back to the root point must be provided to create
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// a complete chain.
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//
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// \note Reuses \c MovingObject::PedestrianAttributes::Bone
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// for the bone definition. Bone positions and orientations are
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// defined relative to the skeleton root point
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// (\c #bbcenter_to_root).
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//
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repeated MovingObject.PedestrianAttributes.Bone skeleton_bone = 2;
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}
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//
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// \brief Information regarding the classification of the occupant.

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