resolved merge conflict. Moved common messages to the top of the file. Used header messages for DetectedStationaryObject

Author: jdsika

osi_common.proto

@@ -278,7 +278,8 @@ message BaseStationary
     // The two dimensional (flat) contour of the object. This is an extension of
     // the concept of a bounding box as defined by \c Dimension3d. The contour is
     // the projection of the object's outline onto the z-plane in the object
-    // frame (independent of its current position and orientation).
+    // frame (independent of its current position and orientation). The height
+    // is the same as the height of the bounding box.
     //
     // Usage as sensor data:
     // The polygon describes the visible part of the object's contour.
@@ -359,7 +360,8 @@ message BaseMoving
     // The two dimensional (flat) contour of the object. This is an extension of
     // the concept of a bounding box as defined by \c Dimension3d. The contour is
     // the projection of the object's outline onto the z-plane in the object
-    // frame (independent of its current position and orientation).
+    // frame (independent of its current position and orientation). The height
+    // is the same as the height of the bounding box.
     //
     // Usage as sensor data:
     // The polygon describes the visible part of the object's contour.

osi_detectedobject.proto

@@ -9,6 +9,96 @@ import "osi_sensorspecific.proto";
 
 package osi3;
 
+//
+// \brief The common information for a detected item as estimated by the
+// sensor.
+//
+message DetectedItemHeader
+{
+    // Specific ID of the detected item as assigned by the sensor internally.
+    // Need not match with \c #ground_truth_id.
+    //
+    optional Identifier tracking_id = 1;
+
+    // The ID of the original detected item in the ground truth.
+    //
+    // \note OSI uses singular instead of plural for repeated field names.
+    //
+    repeated Identifier ground_truth_id = 2;
+
+    // The estimated probability that this detected item 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.
+    //
+    // Range: [0,1]
+    //
+    optional double existence_probability = 3;
+
+    // A list of sensors which detected this detected item.
+    //
+    // If \c SensorData has detected entities and all detections are missing,
+    // then e.g. the number of sensors can confirm the
+    // \c #existence_probability.
+    //
+    // \note This information can be determined via the detected entities'
+    // detections ( \c ...Detection::object_id = 'this detected item' ) and
+    // the sensors (their IDs) to which these detections belong.
+    //
+    // \note OSI uses singular instead of plural for repeated field names.
+    //
+    repeated Identifier sensor_id = 4;
+}
+
+//
+// \brief The common information for a detected item's candidate as estimated
+// by the sensor.
+//
+message DetectedCandidateItemHeader
+{
+    // The estimated probability that this candidate is the true value.
+    // The sum of all \c #probability must be one.
+    //
+    // Range: [0,1]
+    //
+    optional double probability = 1;
+
+    // The amount of time that this detected object has been currently
+    // observed/tracked.
+    //
+    // Unit: [s]
+    //
+    optional double age = 2;
+
+    // The measurement state.
+    //
+    optional MeasurementState measurement_state = 3;
+}
+
+// Definition of measurement states.
+//
+enum MeasurementState
+{
+    // Measurement state is unknown (must not be used in ground truth).
+    //
+    MEASUREMENT_STATE_UNKNOWN = 0;
+
+    // Measurement state is unspecified (but known, i.e. value is not part of
+    // this enum list).
+    //
+    MEASUREMENT_STATE_OTHER = 1;
+
+    // Entity has been measured by the sensor in the current timestep.
+    //
+    MEASUREMENT_STATE_MEASURED = 2;
+
+    // Entity has not been measured by the sensor in the current timestep.
+    // Values provided by tracking only.
+    //
+    MEASUREMENT_STATE_PREDICTED = 3;
+}
+
 //
 // \brief Object in the environment as detected and perceived by the sensor.
 //
@@ -40,12 +130,12 @@ message DetectedObject
     // Base parameters of the object. object.position is the middle of the
     // bounding box of the target object.
     //
-    optional BaseMoving object = 5;
+    optional BaseMoving base = 5;
 
     // The root mean squared error of the base parameters in object (cross
     // correlations are currently neglected).
     //
-    optional BaseMoving object_rmse = 6;
+    optional BaseMoving base_rmse = 6;
 
     // Reference point location specification of the sensor measurement
     // (required to decouple sensor measurement, position and bounding box
@@ -110,7 +200,10 @@ message DetectedObject
 
     // The estimated probabilities for the object to belong to a specific class.
     //
-    optional ClassProbability class_probability = 16;
+    // \note The probability for each class of object has to be provided.
+    // \note OSI uses singular instead of plural for repeated field names.
+    //
+    repeated ClassProbability class_probability = 16;
 
     // Pedestrian head pose for behavior prediction. Describes the head
     // orientation w.r.t. the host vehicle orientation.
@@ -254,198 +347,57 @@ message DetectedObject
     //
     message ClassProbability
     {
-        // Probability that the object has unknown type.
-        //
-        // Range: [0,1]
-        //
-        optional double prob_unknown = 1;
-
-        // Probability that the object is unspecified but known.
-        //
-        // Range: [0,1]
-        //
-        optional double prob_other = 2;
-
-        // Probability that the object is a car.
-        //
-        // Range: [0,1]
-        //
-        optional double prob_car = 3;
-
-        // Probability that the object is a heavy truck.
-        //
-        // Range: [0,1]
-        //
-        optional double prob_heavy_truck = 4;
-
-        // Probability that the object is a van.
-        //
-        // Range: [0,1]
+        // The class of object that has been estimated with a certain
+        // probability.
         //
-        optional double prob_van = 5;
+        optional Vehicle.Type class = 1;
 
-        // Probability that the object is a bus.
+        // Probability that the object is of that certain class.
         //
         // Range: [0,1]
         //
-        optional double prob_bus = 6;
-
-        // Probability that the object is a trailer.
-        //
-        // Range: [0,1]
-        //
-        optional double prob_trailer = 7;
-
-        // Probability that the object is a semitrailer.
-        //
-        // Range: [0,1]
-        //
-        optional double prob_semitrailer = 8;
-
-        // Probability that the object is a tram.
-        //
-        // Range: [0,1]
-        //
-        optional double prob_tram = 9;
-
-        // Probability that the object is a train.
-        //
-        // Range: [0,1]
-        //
-        // \note Can also be used for underground railway.
-        //
-        optional double prob_train = 10;
-
-        // Probability that the object is a motorbike.
-        //
-        // Range: [0,1]
-        //
-        optional double prob_motorbike = 11;
-
-        // Probability that the object is a bicycle.
-        //
-        // Range: [0,1]
-        //
-        optional double prob_bicycle = 12;
-
-        // Probability that the object is a pedestrian.
-        //
-        // Range: [0,1]
-        //
-        optional double prob_pedestrian = 13;
-
-        // Probability that the object is a wheelchair.
-        //
-        // Range: [0,1]
-        //
-        optional double prob_wheelchair = 14;
-
-        // Probability that the object is an animal.
-        //
-        // Range: [0,1]
-        //
-        optional double prob_animal = 15;
-
-        // Probability that the object is a stationary object.
-        //
-        // Range: [0,1]
-        //
-        optional double prob_stationary = 16;
-
-        // Probability that the object is an unspecified but known vehicle.
-        //
-        // Range: [0,1]
-        //
-        optional double prob_other_vehicle = 17;
+        optional double probability = 2;
     }
 }
 
-// Definition of measurement states.
-//
-enum MeasurementState
-{
-    // Measurement state is unknown (must not be used in ground truth).
-    //
-    MEASUREMENT_STATE_UNKNOWN = 0;
-
-    // Measurement state is unspecified (but known, i.e. value is not part of
-    // this enum list).
-    //
-    MEASUREMENT_STATE_OTHER = 1;
-
-    // Entity has been measured by the sensor in the current timestep.
-    //
-    MEASUREMENT_STATE_MEASURED = 2;
-
-    // Entity has not been measured by the sensor in the current timestep.
-    // Values provided by tracking only.
-    //
-    MEASUREMENT_STATE_PREDICTED = 3;
-}
-
 //
-// \brief The common information for a detected item as estimated by the
-// sensor.
+// \brief A stationary object (e.g. landmark) in the environment as detected by
+// the sensor.
 //
-message DetectedItemHeader
+message DetectedStationaryObject
 {
-    // Specific ID of the detected item as assigned by the sensor internally.
-    // Need not match with \c #ground_truth_id.
-    //
-    optional Identifier tracking_id = 1;
-
-    // The ID of the original detected item in the ground truth.
-    //
-    // \note OSI uses singular instead of plural for repeated field names.
-    //
-    repeated Identifier ground_truth_id = 2;
-
-    // The estimated probability that this detected item 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.
-    //
-    // Range: [0,1]
+    // Common information of one detected item.
     //
-    optional double existence_probability = 3;
+    optional DetectedItemHeader header = 1; 
 
-    // A list of sensors which detected this detected item.
     //
-    // If \c SensorData has detected entities and all detections are missing,
-    // then e.g. the number of sensors can confirm the
-    // \c #existence_probability.
-    //
-    // \note This information can be determined via the detected entities'
-    // detections ( \c ...Detection::object_id = 'this detected item' ) and
-    // the sensors (their IDs) to which these detections belong.
-    //
-    // \note OSI uses singular instead of plural for repeated field names.
+    // \brief A candidate for a detected stationary object (e.g. landmark) as 
+    // estimated by the sensor.
     //
-    repeated Identifier sensor_id = 4;
-}
-
-//
-// \brief The common information for a detected item's candidate as estimated
-// by the sensor.
-//
-message DetectedCandidateItemHeader
-{
-    // The estimated probability that this candidate is the true value.
-    // The sum of all \c #probability must be one.
-    //
-    // Range: [0,1]
-    //
-    optional double probability = 1;
-
-    // The amount of time that this detected object has been currently
-    // observed/tracked.
-    //
-    // Unit: [s]
-    //
-    optional double age = 2;
-
-    // The measurement state.
-    //
-    optional MeasurementState measurement_state = 3;
-}
+    message EstimatedStationaryObject
+    {
+        // A list of candidates for this stationary object as estimated by the
+        // sensor.
+        //
+        // \note OSI uses singular instead of plural for repeated field names.
+        //
+        repeated CandidateStationaryObject candidate = 1;
+    
+        // 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.
+        //
+        optional BaseStationary base_rmse = 2;
+    
+        message CandidateStationaryObject
+        {
+            // Common information of one detected item candidate.
+            //
+            optional DetectedCandidateItemHeader header = 1;
+
+            // The description of the stationary object (e.g. landmark).
+            //
+            optional StationaryObject stationary_object = 2;
+        }
+    }
+}

osi_groundtruth.proto

@@ -106,12 +106,6 @@ message GroundTruth
     //
     repeated LaneBoundary lane_boundary = 10;
 
-    // The list of landmarks.
-    //
-    // \note OSI uses singular instead of plural for repeated field names.
-    //
-    repeated Landmark landmark = 1000;
-
     // The list of passengers in the (host) vehicle(s).
     //
     // \note OSI uses singular instead of plural for repeated field names.