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mathieu1fb merged 5 commits into from
Jul 9, 2026
Merged

Java/IoT3Mobility: add planar dimensions to SensorObject #558

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13f7019
java/iot3mobility: add length, width and footprint calculation to Sen…
mathieu1fb Jul 1, 2026
080ec2b
java/iot3mobility: fix SensorObject orientation handling
mathieu1fb Jul 2, 2026
de53cd9
java/iot3mobility: v0.2.1
mathieu1fb Jul 9, 2026
00626c1
java/iot3examples: add dimensions to perceived objects of CPMs v1.2.1…
mathieu1fb Jul 9, 2026
c135e4b
java/iot3examples: v0.2.1
mathieu1fb Jul 9, 2026
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2 changes: 1 addition & 1 deletion java/iot3/examples/build.gradle
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@ plugins {
}

group = 'com.orange'
version = '0.2.0'
version = '0.2.1'

repositories {
mavenCentral()
Expand Down
3 changes: 2 additions & 1 deletion java/iot3/examples/src/main/java/com/orange/CpmV121Factory.java
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Expand Up @@ -73,8 +73,9 @@ static CpmEnvelope121 createTestCpmEnvelope(
.objectAge(1500)
.distance(bicycleX, bicycleY)
.speed(0, 0)
.planarObjectDimension(20, 20)
.planarObjectDimension(20, 10)
.verticalObjectDimension(15)
.yawAngle(120)
.classification(List.of(new ObjectClassification(
new ObjectClass(null,
new ObjectClassVru(null, 1, null, null),
Expand Down
27 changes: 12 additions & 15 deletions java/iot3/examples/src/main/java/com/orange/CpmV211Factory.java
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Original file line number Diff line number Diff line change
Expand Up @@ -4,23 +4,10 @@
import com.orange.iot3mobility.messages.EtsiConverter;
import com.orange.iot3mobility.messages.cpm.v211.model.CpmEnvelope211;
import com.orange.iot3mobility.messages.cpm.v211.model.CpmMessage211;
import com.orange.iot3mobility.messages.cpm.v211.model.defs.Altitude;
import com.orange.iot3mobility.messages.cpm.v211.model.defs.CartesianCoordinateWithConfidence;
import com.orange.iot3mobility.messages.cpm.v211.model.defs.CartesianPosition3d;
import com.orange.iot3mobility.messages.cpm.v211.model.defs.CartesianPosition3dWithConfidence;
import com.orange.iot3mobility.messages.cpm.v211.model.defs.Circular;
import com.orange.iot3mobility.messages.cpm.v211.model.defs.MapReference;
import com.orange.iot3mobility.messages.cpm.v211.model.defs.PositionConfidenceEllipse;
import com.orange.iot3mobility.messages.cpm.v211.model.defs.ReferencePosition;
import com.orange.iot3mobility.messages.cpm.v211.model.defs.RoadSegment;
import com.orange.iot3mobility.messages.cpm.v211.model.defs.Shape;
import com.orange.iot3mobility.messages.cpm.v211.model.defs.*;
import com.orange.iot3mobility.messages.cpm.v211.model.managementcontainer.ManagementContainer;
import com.orange.iot3mobility.messages.cpm.v211.model.originatingrsucontainer.OriginatingRsuContainer;
import com.orange.iot3mobility.messages.cpm.v211.model.perceivedobjectcontainer.ObjectClass;
import com.orange.iot3mobility.messages.cpm.v211.model.perceivedobjectcontainer.ObjectClassVru;
import com.orange.iot3mobility.messages.cpm.v211.model.perceivedobjectcontainer.ObjectClassification;
import com.orange.iot3mobility.messages.cpm.v211.model.perceivedobjectcontainer.PerceivedObject;
import com.orange.iot3mobility.messages.cpm.v211.model.perceivedobjectcontainer.PerceivedObjectContainer;
import com.orange.iot3mobility.messages.cpm.v211.model.perceivedobjectcontainer.*;
import com.orange.iot3mobility.messages.cpm.v211.model.sensorinformationcontainer.SensorInformation;
import com.orange.iot3mobility.messages.cpm.v211.model.sensorinformationcontainer.SensorInformationContainer;
import com.orange.iot3mobility.quadkey.LatLng;
Expand Down Expand Up @@ -56,6 +43,9 @@ static CpmEnvelope211 createTestCpmEnvelope(
.classification(List.of(new ObjectClassification(
ObjectClass.vru(ObjectClassVru.pedestrian(1)),
100)))
.objectDimensionX(new ObjectDimension(10, 1))
.objectDimensionY(new ObjectDimension(10, 1))
.objectDimensionZ(new ObjectDimension(20, 1))
.sensorIdList(List.of(SENSOR_ID))
.build();

Expand All @@ -70,6 +60,13 @@ static CpmEnvelope211 createTestCpmEnvelope(
.classification(List.of(new ObjectClassification(
ObjectClass.vru(ObjectClassVru.bicyclistAndLightVruVehicle(1)),
100)))
.objectDimensionX(new ObjectDimension(20, 1))
.objectDimensionY(new ObjectDimension(10, 1))
.objectDimensionZ(new ObjectDimension(15, 1))
.angles(new EulerAngles(
new Angle(120, 1),
new Angle(0, 1),
new Angle(0, 1)))
.sensorIdList(List.of(SENSOR_ID))
.build();

Expand Down
2 changes: 1 addition & 1 deletion java/iot3/mobility/build.gradle
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Expand Up @@ -12,7 +12,7 @@ plugins {
}

group 'com.orange.iot3mobility'
version '0.2.1-dev'
version '0.2.1'

repositories {
// Use Maven Central for resolving dependencies.
Expand Down
38 changes: 32 additions & 6 deletions java/iot3/mobility/src/main/java/com/orange/iot3mobility/roadobjects/RoadSensor.java
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Expand Up @@ -12,6 +12,7 @@
import com.orange.iot3mobility.messages.cpm.core.CpmCodec;
import com.orange.iot3mobility.messages.cpm.core.CpmVersion;
import com.orange.iot3mobility.messages.cpm.v121.model.CpmEnvelope121;
import com.orange.iot3mobility.messages.cpm.v121.model.perceivedobjectcontainer.ObjectClass;
import com.orange.iot3mobility.messages.cpm.v121.model.perceivedobjectcontainer.ObjectClassification;
import com.orange.iot3mobility.messages.cpm.v121.model.perceivedobjectcontainer.PerceivedObject;
import com.orange.iot3mobility.messages.cpm.v211.model.CpmEnvelope211;
Expand Down Expand Up @@ -100,8 +101,18 @@ public void updateSensorObjects() {
double objectHeading = EtsiConverter.cpmDerivedHeadingDegrees(
perceivedObject.xSpeed(),
perceivedObject.ySpeed());
int infoQuality = 3;

Double objectLength = null, objectWidth = null, objectOrientation = null;
if(perceivedObject.planarObjectDimension1() != null
&& perceivedObject.planarObjectDimension2() != null) {
objectLength = EtsiConverter.cpmObjectDimensionMeters(perceivedObject.planarObjectDimension1());
objectWidth = EtsiConverter.cpmObjectDimensionMeters(perceivedObject.planarObjectDimension2());
}
if(perceivedObject.yawAngle() != null) {
objectOrientation = EtsiConverter.cpmAngleDegrees(perceivedObject.yawAngle());
}

int infoQuality = 3;
if(perceivedObject.classification() != null
&& !perceivedObject.classification().isEmpty()) {
infoQuality = perceivedObject.classification().get(0).confidence();
Expand All @@ -117,14 +128,17 @@ public void updateSensorObjects() {
sensorObject.setPosition(objectPosition);
sensorObject.setType(objectType);
sensorObject.setSpeed(objectSpeed);
sensorObject.setHeading(objectHeading);
sensorObject.setBearing(objectHeading);
sensorObject.setInfoQuality(infoQuality);
sensorObject.setDimensions(objectLength, objectWidth);
sensorObject.setOrientation(objectOrientation);
ioT3RoadSensorCallback.sensorObjectUpdate(sensorObject);
}
}
} else {
// create new SensorObject
sensorObject = new SensorObject(objectId, objectType, objectPosition, objectSpeed, objectHeading, infoQuality);
sensorObject = new SensorObject(objectId, objectType, objectPosition, objectSpeed,
objectHeading, infoQuality, objectLength, objectWidth, objectOrientation);
synchronized (sensorObjects) {
sensorObjects.add(sensorObject);
}
Expand Down Expand Up @@ -206,6 +220,15 @@ public void updateSensorObjects() {
}
}

Double objectLength = null, objectWidth = null, objectOrientation = null;
if(perceivedObject.objectDimensionX() != null && perceivedObject.objectDimensionY() != null) {
objectLength = EtsiConverter.cpmObjectDimensionMeters(perceivedObject.objectDimensionX().value());
objectWidth = EtsiConverter.cpmObjectDimensionMeters(perceivedObject.objectDimensionY().value());
}
if(perceivedObject.angles() != null && perceivedObject.angles().zAngle() != null) {
objectOrientation = EtsiConverter.cpmAngleDegrees(perceivedObject.angles().zAngle().value());
}

int infoQuality = 3;
if(perceivedObject.classification() != null
&& !perceivedObject.classification().isEmpty()) {
Expand All @@ -222,14 +245,17 @@ public void updateSensorObjects() {
sensorObject.setPosition(objectPosition);
sensorObject.setType(objectType);
sensorObject.setSpeed(objectSpeed);
sensorObject.setHeading(objectHeading);
sensorObject.setBearing(objectHeading);
sensorObject.setInfoQuality(infoQuality);
sensorObject.setDimensions(objectLength, objectWidth);
sensorObject.setOrientation(objectOrientation);
ioT3RoadSensorCallback.sensorObjectUpdate(sensorObject);
}
}
} else {
// create new SensorObject
sensorObject = new SensorObject(objectId, objectType, objectPosition, objectSpeed, objectHeading, infoQuality);
sensorObject = new SensorObject(objectId, objectType, objectPosition, objectSpeed,
objectHeading, infoQuality, objectLength, objectWidth, objectOrientation);
synchronized (sensorObjects) {
sensorObjects.add(sensorObject);
}
Expand Down Expand Up @@ -309,7 +335,7 @@ public boolean stillLiving() {
/* --------------------------------------------------------------------- */

private SensorObjectType cpm121ObjectTypeFromObjectClass(
com.orange.iot3mobility.messages.cpm.v121.model.perceivedobjectcontainer.ObjectClass objectClass) {
ObjectClass objectClass) {
if(objectClass.vehicle() != null) {
return switch (objectClass.vehicle()) {
case 1 -> SensorObjectType.PASSENGER_CAR;
Expand Down
69 changes: 62 additions & 7 deletions java/iot3/mobility/src/main/java/com/orange/iot3mobility/roadobjects/SensorObject.java
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Expand Up @@ -7,8 +7,11 @@
*/
package com.orange.iot3mobility.roadobjects;

import com.orange.iot3mobility.Utils;
import com.orange.iot3mobility.quadkey.LatLng;

import java.util.List;

public class SensorObject {

private static final int LIFETIME = 1500; // 1.5 seconds
Expand All @@ -17,17 +20,31 @@ public class SensorObject {
private SensorObjectType type;
private LatLng position;
private double speed; // m/s
private double heading; // degree
private double bearing; // degree
private int infoQuality;
private Double length; // meter
private Double width; // meter
private Double orientation; // degree
private List<LatLng> footprint;
private long timestamp;

public SensorObject(String uuid, SensorObjectType type, LatLng position, double speed, double heading, int infoQuality) {
public SensorObject(String uuid, SensorObjectType type, LatLng position, double speed, double bearing,
int infoQuality) {
this(uuid, type, position, speed, bearing, infoQuality, null, null, null);
}

public SensorObject(String uuid, SensorObjectType type, LatLng position, double speed, double bearing,
int infoQuality, Double length, Double width, Double orientation) {
this.uuid = uuid;
this.type = type;
this.position = position;
this.speed = speed;
this.heading = heading;
this.bearing = bearing;
this.infoQuality = infoQuality;
this.length = length;
this.width = width;
this.orientation = orientation;
computeFootprint();
updateTimestamp();
}

Expand Down Expand Up @@ -63,12 +80,12 @@ public void setSpeed(double speed) {
this.speed = speed;
}

public double getHeading() {
return heading;
public double getBearing() {
return bearing;
}

public void setHeading(double heading) {
this.heading = heading;
public void setBearing(double bearing) {
this.bearing = bearing;
}

public int getInfoQuality() {
Expand All @@ -79,6 +96,44 @@ public void setInfoQuality(int infoQuality) {
this.infoQuality = infoQuality;
}

public void setDimensions(Double length, Double width) {
this.length = length;
this.width = width;
computeFootprint();
}

public Double getLength() {
return length;
}

public Double getWidth() {
return width;
}

public Double getOrientation() {
return orientation;
}

public void setOrientation(Double orientation) {
this.orientation = orientation;
}

private void computeFootprint() {
if(length != null && width != null && orientation != null) {
LatLng frontCenter = Utils.pointFromPosition(position, orientation, length / 2);
LatLng frontLeft = Utils.pointFromPosition(frontCenter, (orientation - 90 + 360) % 360, width / 2);
LatLng frontRight = Utils.pointFromPosition(frontCenter, (orientation + 90 + 360) % 360, width / 2);
LatLng rearCenter = Utils.pointFromPosition(position, (orientation + 180 + 360) % 360, length / 2);
LatLng rearLeft = Utils.pointFromPosition(rearCenter, (orientation - 90 + 360) % 360, width / 2);
LatLng rearRight = Utils.pointFromPosition(rearCenter, (orientation + 90 + 360) % 360, width / 2);
footprint = List.of(frontLeft, frontRight, rearRight, rearLeft);
}
}

public List<LatLng> getFootprint() {
return footprint;
}

public long getTimestamp() {
return timestamp;
}
Expand Down
6 changes: 3 additions & 3 deletions java/iot3/mobility/src/test/java/com/orange/iot3mobility/roadobjects/SensorObjectTest.java
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Expand Up @@ -53,7 +53,7 @@ void getSpeedReturnsConstructedValue() {

@Test
void getHeadingReturnsConstructedValue() {
assertEquals(90.0, makeSensorObject().getHeading(), 1e-9);
assertEquals(90.0, makeSensorObject().getBearing(), 1e-9);
}

@Test
Expand Down Expand Up @@ -100,8 +100,8 @@ void setSpeedUpdatesValue() {
@Test
void setHeadingUpdatesValue() {
SensorObject obj = makeSensorObject();
obj.setHeading(270.0);
assertEquals(270.0, obj.getHeading(), 1e-9);
obj.setBearing(270.0);
assertEquals(270.0, obj.getBearing(), 1e-9);
}

@Test
Expand Down
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