Replace Landmark messages with StationaryObject messages

Use StationaryObject as Landmark object (in GT and for sensor detections).

Author: carsten-kuebler

osi_detectedobject.proto

@@ -321,3 +321,82 @@ enum MeasurementState
     // Values provided by tracking only.
     MEASUREMENT_STATE_PREDICTED = 3;
 }
+
+//
+// \brief A stationary object (e.g. landmark) in the environment as detected by
+// the sensor.
+//
+message DetectedStationaryObject
+{
+    // Specific ID of the stationary object (e.g. landmark) as assigned by the
+    // sensor internally.
+    // Need not match with \c #ground_truth_id_list.
+    //
+    optional Identifier tracking_id = 1;
+
+    // The ID of the original stationary object (e.g. landmark) in the ground 
+    // truth.
+    // In case of a ghost detection (no corresponding ground truth), this field
+    // should be unset.
+    //
+    repeated Identifier ground_truth_id_list = 2;
+
+    // A list of candidates for this stationary object (e.g. landmark) as 
+    // estimated by the sensor.
+    //
+    repeated CandidateStationaryObject candidate_stationary_objects = 3;
+
+    // The estimated probability that this stationary object (e.g. landmark)
+    // really exists, not based on history.
+    //
+    // \note Use as confidence measure where a low value means less confidence
+    // and a high value indicates strong confidence.
+    //
+    optional double existence_probability = 4;
+    
+    // The root mean squared error of the base parameters of the detected 
+    // stationary object (e.g. landmark). \c StationaryObject::base has to be
+    // identical for all \c #candidate_stationary_objects landmarks.
+    //
+    optional BaseStationary base_rmse = 5;
+   
+    // A list of sensors which detected this detected entity.
+    //
+    // If \c SensorData has detected entities and all detections are missing, 
+    // then e.g. the number of sensors can confirm the #existence_probability.
+    // 
+    // \note This information can be determined via the detected entities'
+    // detections ( \c ...Detection::object_id = 'this detected entity' ) and
+    // the sensors (their IDs) to which these detections belong.
+    //
+    repeated Identifier sensor_id_list = 6;    
+}
+
+//
+// \brief A candidate for a detected stationary object (e.g. landmark) as 
+// estimated by the sensor.
+//
+message CandidateStationaryObject
+{
+    // The description of the stationary object (e.g. landmark).
+    //
+    optional StationaryObject stationary_object = 1;
+
+    // The estimated probability that this candidate is the true value.
+    // The sum of all \c #candidate_probability must be one.
+    //
+    // Range: [0,1]
+    //
+    optional double candidate_probability = 2;
+
+    // The amount of time that this detected object has been currently 
+    // observed/tracked.
+    // 
+    // Unit: [s]
+    //
+    optional double age = 3;
+
+    // The measurement state.
+    //
+    optional MeasurementState measurement_state = 4;
+}

osi_groundtruth.proto

@@ -87,10 +87,6 @@ message GroundTruth
     //
     repeated LaneBoundary lane_boundary = 10;
 
-    // The list of landmarks.
-    //
-    repeated Landmark landmarks = 1000;
-
     // The list of passengers in the (host) vehicle(s).
     //
     repeated Occupant occupant = 11;

osi_object.proto

@@ -316,6 +316,10 @@ message StationaryObject
         //
         TYPE_BUILDING = 3;
 
+        // Object is a pole (e.g. traffic light).
+        //
+        TYPE_POLE = 4;
+        
         // Object is a pylon.
         //
         TYPE_PYLON = 4;
@@ -327,5 +331,31 @@ message StationaryObject
         // Object is a delineator (e.g. at a construction site).
         //
         TYPE_DELINEATOR = 6;
+       
+        // Landmarks corresponding to vertical structures in the environment, 
+        // like poles.
+        //
+        TYPE_VERTICAL_STRUCTURE = 12;
+        
+        // Landmarks corresponding to rectangular structures in the environment,
+        // like walls.
+        //
+        TYPE_RECTANGULAR_STRUCTURE = 13;
+        
+        // Landmarks corresponding to overhead structures in the environment, 
+        // like sign bridges.
+        //
+        TYPE_OVERHEAD_STRUCTURE = 14;
+        
+        // Landmarks corresponding to light sources or reflective structures in 
+        // the environment, like street lights or reflective poles on the road 
+        // boarder.
+        //
+        TYPE_REFLECTIVE_STRUCTURE = 15;
+        
+        // Landmarks corresponding to construction site elements in the 
+        // environment, like cones or beacons.
+        //
+        TYPE_CONSTRUCTION_SITE_ELEMENT = 16;
     }
 }

osi_sensordata.proto

@@ -161,13 +161,13 @@ message SensorData
     //
     repeated DetectedLaneBoundary lane_boundary = 14;
 
-    // General information about the \c DetectedLandmark .
+    // General information about the \c DetectedStationaryObject .
     // 
-    optional DetectedEntityHeader landmarks_header = 1000;
+    optional DetectedEntityHeader stationary_object_header = 1000;
 
-    // The list of landmarks detected by the sensor.
+    // The list of stationary objects (e.g. landmarks) detected by the sensor.
     //
-    repeated DetectedLandmark landmarks = 1001;
+    repeated DetectedStationaryObject stationary_object = 1001;
 
     // General information about the \c DetectedOccupant .
     //