Merge branch 'master' into update/DetectedMessages-restructured

Author: carsten-kuebler

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

@@ -40,12 +40,12 @@ 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 +110,10 @@ 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.
@@ -254,109 +257,16 @@ 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]
-        //
-        optional double prob_van = 5;
-
-        // Probability that the object is a bus.
-        //
-        // 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]
+        // The class of object that has been estimated with a certain
+        // probability.
         //
-        optional double prob_semitrailer = 8;
+        optional Vehicle.Type class = 1;
 
-        // Probability that the object is a tram.
+        // Probability that the object is of that certain class.
         //
         // 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;
     }
 }
 
@@ -383,6 +293,57 @@ enum MeasurementState
     MEASUREMENT_STATE_PREDICTED = 3;
 }
 
+//
+
+// \brief A stationary object (e.g. landmark) in the environment as detected by
+// the sensor.
+//
+message DetectedStationaryObject
+{
+    // Common information of one detected item.
+    //
+    optional DetectedItemHeader header = 1;
+
+    // A list of estimates for this stationary object (e.g. landmark) as 
+    // estimated by the sensor.
+    //
+    // \note OSI uses singular instead of plural for repeated field names.
+    //
+    repeated EstimatedStationaryObject stationary_object = 2;
+
+    //
+    // \brief A candidate for a detected stationary object (e.g. landmark) as 
+    // estimated by the sensor.
+    //
+    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;
+        }
+    }
+}
+
+
 //
 // \brief The common information for a detected item as estimated by the
 // sensor.
@@ -449,3 +410,4 @@ message DetectedCandidateItemHeader
     //
     optional MeasurementState measurement_state = 3;
 }
+

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.

osi_object.proto

@@ -380,6 +380,10 @@ message StationaryObject
         // Object is a building.
         //
         TYPE_BUILDING = 3;
+        
+        // Object is a pole (e.g. traffic light).
+        //
+        TYPE_POLE = 20;
 
         // Object is a pylon.
         //
@@ -392,11 +396,7 @@ message StationaryObject
         // Object is a delineator (e.g. at a construction site).
         //
         TYPE_DELINEATOR = 6;
-        
-        // Object is a pole.
-        //
-        TYPE_POLE = 2000;
-        
+
         // Object is a tree.
         //
         TYPE_TREE = 2001;
@@ -416,5 +416,31 @@ message StationaryObject
         // Object is a wall.
         //
         TYPE_WALL = 2005;
+       
+        // 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

@@ -190,15 +190,13 @@ message SensorData
     //
     repeated DetectedLaneBoundary lane_boundary = 20;
 
-    // General information about the \c DetectedLandmark .
-    //
-    optional DetectedEntityHeader landmark_header = 21;
+    // General information about the \c DetectedStationaryObject .
+    // 
+    optional DetectedEntityHeader stationary_object_header = 1000;
 
-    // The list of landmarks detected by the sensor.
-    //
-    // \note OSI uses singular instead of plural for repeated field names.
+    // The list of stationary objects (e.g. landmarks) detected by the sensor.
     //
-    repeated DetectedLandmark landmark = 22;
+    repeated DetectedStationaryObject stationary_object = 1001;
 
     // General information about the \c DetectedOccupant .
     //