Merge pull request #170 from OpenSimulationInterface/feature/New-Landmark-Messages

Landmarks added (issue #166)

Author: jdsika

osi_detectedlandmark.proto

@@ -152,6 +152,10 @@ message CandidateSign
     // 
     // Unit: [s]
     optional double age = 3;
+
+    // The measurement state.
+    //
+    optional MeasurementState measurement_state = 4;
 }
 
 //
@@ -174,6 +178,10 @@ message CandidateSupplementarySign
     // 
     // Unit: [s]
     optional double age = 3;
+
+    // The measurement state.
+    //
+    optional MeasurementState measurement_state = 4;
 }
 
 //
@@ -217,10 +225,6 @@ message DetectedTrafficLight
     // and a high value indicates strong confidence.
     //
     optional double existence_probability = 8;
-
-    // The measurement state.
-    //
-    optional MeasurementState measurement_state = 9;
 
     // A list of sensors which detected this detected entity.
     //
@@ -287,6 +291,16 @@ message CandidateTrafficLight
     // The sum of all candidate_probabilities must be one.
     //
     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;
 }
 
 //
@@ -334,10 +348,6 @@ message DetectedRoadMarking
     // Links to the corresponding lanes.
     //
     repeated RelevantLane relevant_lane = 6;
-
-    // The measurement state.
-    //
-    optional MeasurementState measurement_state = 7;
 
     // The root mean squared error of the base parameters of the detected road
     // marking.
@@ -375,4 +385,82 @@ message CandidateRoadMarking
     // 
     // Unit: [s]
     optional double age = 3;
+
+    // The measurement state.
+    //
+    optional MeasurementState measurement_state = 4;
+}
+
+//
+// \brief A landmark in the environment as detected by the sensor.
+//
+message DetectedLandmark
+{
+    // Specific ID of the 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 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 landmark as estimated by the sensor.
+    //
+    repeated CandidateLandmark candidate_landmarks = 3;
+
+    // The estimated probability that this 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 
+    // landmark. \c RoadMarking::base has to be identical for
+    // all \c #candidate_landmarks 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 landmark as estimated by the sensor.
+//
+message CandidateLandmark
+{
+    // The description of the landmark.
+    //
+    optional Landmark landmark = 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

@@ -87,6 +87,10 @@ 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_landmark.proto

@@ -1172,3 +1172,65 @@ message RoadMarking
         COLOR_VIOLET = 8;
     }
 }
+
+//
+// \brief A landmark.
+// 
+// Landmarks for example the pole of a traffic light or traffic sign.
+//
+// All coordinates and orientations are relative to the global ground truth
+// coordinate system.
+//
+message Landmark
+{
+    // The ID of the road marking.
+    //
+    optional Identifier id = 1;
+
+    // The base parameters of the landmark.
+    //
+    optional BaseStationary base = 2;
+
+    // The type of the landmark.
+    //
+    optional Type type = 3;
+
+    // Definition of landmark types.
+    //
+    enum Type
+    {
+        // Type of landmark is unknown (must not be used in ground truth).
+        //
+        TYPE_UNKNOWN = 0;
+        
+        // Other (unspecified but known) type of landmark.
+        //
+        TYPE_OTHER = 1;
+        
+        // Landmarks corresponding to vertical structures in the environment, 
+        // like poles.
+        //
+        TYPE_VERTICAL_STRUCTURE = 2;
+        
+        // Landmarks corresponding to rectangular structures in the environment,
+        // like walls.
+        //
+        TYPE_RECTANGULAR_STRUCTURE = 3;
+        
+        // Landmarks corresponding to overhead structures in the environment, 
+        // like sign bridges.
+        //
+        TYPE_OVERHEAD_STRUCTURE = 4;
+        
+        // Landmarks corresponding to light sources or reflective structures in 
+        // the environment, like street lights or reflective poles on the road 
+        // boarder.
+        //
+        TYPE_REFLECTIVE_STRUCTURE = 5;
+        
+        // Landmarks corresponding to construction site elements in the 
+        // environment, like cones or beacons.
+        //
+        TYPE_CONSTRUCTION_SITE_ELEMENT = 6;
+    }
+}

osi_sensordata.proto

@@ -160,7 +160,15 @@ message SensorData
     // The list of lane boundary markings detected by the sensor.
     //
     repeated DetectedLaneBoundary lane_boundary = 14;
-        
+
+    // General information about the \c DetectedLandmark .
+    // 
+    optional DetectedEntityHeader landmarks_header = 1000;
+
+    // The list of landmarks detected by the sensor.
+    //
+    repeated DetectedLandmark landmarks = 1001;
+    
     // General information about the \c DetectedOccupant .
     // 
     optional DetectedEntityHeader occupant_header = 106;
@@ -207,7 +215,7 @@ message DetectedEntityHeader
 
     // Continuous up counter to identify the cycle.
     //
-    optional uint32 cycle_counter = 2;
+    optional uint64 cycle_counter = 2;
 
     // Data Qualifier expresses to what extent the content of this event can be
     // relied on.