Introducing emitting objects

[LukasElster]

Reference to a related issue in the repository

#455

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As street lights and other emitting structures of electromagnetic waves is not part of the actual definition of stationary object this PR introduces it.

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Result of the discussion with @PhRosenberger and @kmeids

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[kmeids]

Tagging the related issue: Fixes #455

[kmeids]

Output from CCB 09.06.2021

1. Since this message defines the "FoV" of the emitting object and not the actual distribution of each "ray" a better name should be suggested (including the word Spatial either in the message name or in the definition).
2. A note to be added describing the fact the number of emitted_intensity_distribution should be equal to the number of samples defined in the WavelengthData.

[kmeids]

Output from CCB 09.06.2021
A none "equation" based definition to be added describing the fact the number of max_intensity_per_wavelength should be equal to the number of samples defined in the WavelengthData.

[kmeids]

Please check comments and suggestions.

[pmai]

Add relationship to normal, i.e. angle is symmetrical across the normal, which is defined by the mounting position...

[pmai]

Looking good to me.

[PhRosenberger]

@LukasElster
Please move the message SpatialIntensity to osi_common.proto.
It is rather generic and will be used in the SETLevel project e.g. in the LidarSensorViewConfiguration to describe the lidar signal emission there (will be used e.g. for ray tracer config).

Moving it now will avoid the effort to move it later ;-)

[PhRosenberger]

Actually, @ClemensLinnhoff and I discussed this today and we strongly believe that a signal strength in dBm would fit best here (intensity is rather a power distribution in watts per square metre (W/m2)).

We expect that using a logarithmic unit will be better for high difference btw. emision and reception compared to simple %.

It would mean to get rid of the maximum intensity as well, which is on the pro-side, as well, I guess.

Therefore, we recommend the following for osi_common:

//
// \brief Definition of a spatial signal strength distribution
// for an emitting / transmitting / receiving entity
// with a horizontal and a vertical angle
// and the corresponding signal strength in dBm (decibels per milliwatt).
//
message SpatialSignalStrength
{
    // Horizontal angle (azimuth) of emission / transmission / reception
    // in the entity's coordinate system.
    //
    // Unit: rad
    //
    optional double horizontal_angle = 1;

    // Vertical angle (elevation) of emission / transmission / reception
    // in the entity's coordinate system.
    //
    // Unit: rad
    //
    optional double vertical_angle = 2;

    // Emitted / transmitted /received signal strength
    // of the emitting / transmitting / receiving entity
    // at the previously defined horizontal and
    // vertical angle for one specific wavelength.
    // The value for the signal strength
    // is given in dBm (decibels per milliwatt).
    //
    // Unit: dBm
    //
    optional double signal_strength = 3;
}

[LukasElster]

@PhRosenberger I integrated your recommendations

[kmeids]

CCB Output 21.07.2021

1. Stefan will deactivate the checks for the "Build Protos"
2. @LukasElster and @stefancyliax and @kmeids will fix the conflicting files.
3. Merge after conflicts are resolved.

[stefancyliax]

Branch rebased to master with @kmeids @LukasElster.
Merged.