Removed host_vehicle_flag, host_vehicle_id in GT, reordered GT and SD, placed is_host_vehicle in Lane

Author: jdsika

osi_detectedlane.proto

@@ -92,6 +92,8 @@ message DetectedLaneBoundary
     // one \c #boundary_line_confidences confidence value is
     // specified.
     //
+    // Range: [0,1]
+    //
     repeated double boundary_line_confidences = 5;
 
     //
@@ -117,4 +119,4 @@ message DetectedLaneBoundary
         //
         optional LaneBoundary.Classification classification = 2;
     }
-}
+}

osi_groundtruth.proto

@@ -55,60 +55,66 @@ message GroundTruth
     // sensor data).
     //
     optional Timestamp timestamp = 2;
-
-    // The list of all other moving objects including all (host) vehicles.
+    
+    // The ID of the host vehicle object referencing to \c MovingObject .
     //
-    // \note OSI uses singular instead of plural for repeated field names.
+    // \note This ID has to be filled and is not optional!
     //
-    repeated MovingObject moving_object = 3;
-
+    optional Identifier host_vehicle_id = 3;
+    
     // The list of stationary objects (excluding traffic signs and traffic
     // lights).
     //
     // \note OSI uses singular instead of plural for repeated field names.
     //
     repeated StationaryObject stationary_object = 4;
 
+    // The list of all other moving objects including all (host) vehicles.
+    //
+    // \note OSI uses singular instead of plural for repeated field names.
+    //
+    repeated MovingObject moving_object = 5;
+
     // The list of traffic signs.
     //
     // \note OSI uses singular instead of plural for repeated field names.
     //
-    repeated TrafficSign traffic_sign = 5;
+    repeated TrafficSign traffic_sign = 6;
 
     // The list of traffic lights.
     //
     // \note OSI uses singular instead of plural for repeated field names.
     //
-    repeated TrafficLight traffic_light = 6;
+    repeated TrafficLight traffic_light = 7;
 
     // The list of road surface markings (lane markings are excluded and
     // defined as \c LaneBoundary).
     //
     // \note OSI uses singular instead of plural for repeated field names.
     //
-    repeated RoadMarking road_marking = 7;
-
-    // The list of lanes forming a road network.
+    repeated RoadMarking road_marking = 8;
+    
+    // The list of lane boundaries.
     //
     // \note OSI uses singular instead of plural for repeated field names.
     //
-    repeated Lane lane = 8;
+    repeated LaneBoundary lane_boundary = 9;
 
-    // The list of lane boundaries.
+    // The list of lanes forming a road network.
     //
     // \note OSI uses singular instead of plural for repeated field names.
     //
-    repeated LaneBoundary lane_boundary = 9;
+    repeated Lane lane = 10;
 
     // The list of passengers in the (host) vehicle(s).
     //
     // \note OSI uses singular instead of plural for repeated field names.
     //
-    repeated Occupant occupant = 10;
+    repeated Occupant occupant = 11;
 
     // Conditions of the environment.
     //
-    optional EnvironmentalConditions environmental_conditions = 11;
+    optional EnvironmentalConditions environmental_conditions = 12;
 
     // The ISO country code in 3 digit numeric format according to:
     // ISO Code 3166/1 [1,2].
@@ -120,5 +126,5 @@ message GroundTruth
     // \li [1] [International Standard ISO 3166-1: Codes for the representation of names of countries and their subdivisions - Part 1: Country codes, third ed., 2013] (https://www.iso.org/obp/ui/)
     // \li [2] [Wikipedia ISO 3166/1] (https://en.wikipedia.org/wiki/ISO_3166-1)
     //
-    optional uint32 country_code = 12;
+    optional uint32 country_code = 13;
 }

osi_lane.proto

@@ -39,11 +39,18 @@ message Lane
     //
     // \brief Classification of a lane.
     //
-    message Classification {
+    message Classification
+    {
         // The type of the lane.
         // Example: \c #type = \c #TYPE_DRIVING (see reference picture)
         //
         optional Type type = 1;
+        
+        // Indicates that the host vehicle travels on this particular lane.
+        // The host vehicle may travel on more than one lane at once. This does
+        // also apply for the \c CanditateLane in the \c DetectedLane .
+        //
+        optional bool is_host_vehicle_lane = 2;
 
         // The lane's center line (as a list of segments).
         //
@@ -66,7 +73,7 @@ message Lane
         // \note The \c #centerline is defined only for \c #type =
         // \c #TYPE_DRIVING and one \c #lane_pairing pair.
         //
-        repeated Vector3d centerline = 2;
+        repeated Vector3d centerline = 3;
 
         // Definition of the intended driving direction.
         //
@@ -79,7 +86,7 @@ message Lane
         // \note The \c #centerline_is_driving_direction is defined for \c #type =
         // \c #TYPE_DRIVING .
         //
-        optional bool centerline_is_driving_direction = 3;
+        optional bool centerline_is_driving_direction = 4;
 
         // List of IDs of all lane segments that are directly adjacent to the lane
         // on the left side (w.r.t. intended driving direction). Note that lengths
@@ -94,7 +101,7 @@ message Lane
         //
         // \note OSI uses singular instead of plural for repeated field names.
         //
-        repeated Identifier left_adjacent_lane_id = 4;
+        repeated Identifier left_adjacent_lane_id = 5;
 
         // List of IDs of all lane segments that are directly adjacent to the lane
         // on the right side (w.r.t. intended driving direction). Note that lengths
@@ -110,7 +117,7 @@ message Lane
         //
         // \note OSI uses singular instead of plural for repeated field names.
         //
-        repeated Identifier right_adjacent_lane_id = 5;
+        repeated Identifier right_adjacent_lane_id = 6;
 
         // The antecessor/successor lane pairings of this lane. There can be
         // multiple pairings with the same antecessor and different successor lanes
@@ -121,7 +128,7 @@ message Lane
         //
         // \note OSI uses singular instead of plural for repeated field names.
         //
-        repeated LanePairing lane_pairing = 6;
+        repeated LanePairing lane_pairing = 7;
 
         // The right adjacent lane boundaries \c #right_lane_boundary_id may only be
         // shared with/as the left adjacent lane boundaries
@@ -135,7 +142,7 @@ message Lane
         //
         // \note OSI uses singular instead of plural for repeated field names.
         //
-        repeated Identifier right_lane_boundary_id = 7;
+        repeated Identifier right_lane_boundary_id = 8;
 
         // The left adjacent lane boundaries \c #left_lane_boundary_id may only be
         // shared with/as the right adjacent lane boundaries
@@ -149,7 +156,7 @@ message Lane
         //
         // \note OSI uses singular instead of plural for repeated field names.
         //
-        repeated Identifier left_lane_boundary_id = 8;
+        repeated Identifier left_lane_boundary_id = 9;
 
         // The free boundaries which have no/unknown assignment to left/right.
         //
@@ -158,11 +165,11 @@ message Lane
         //
         // \note OSI uses singular instead of plural for repeated field names.
         //
-        repeated Identifier free_lane_boundary_id = 9;
+        repeated Identifier free_lane_boundary_id = 10;
 
         // The condition of the lane, e.g. influenced by weather.
         //
-        optional RoadCondition road_condition = 10;
+        optional RoadCondition road_condition = 11;
 
         // Definition of available lane types.
         //
@@ -313,8 +320,8 @@ message LaneBoundary
     // of each dashed line segment. For Botts' dots lines, one
     // \c BoundaryPoint position has to define each Botts' dot.
     //
-    // \attention For \c BoundaryPoint the same rules regarding maximum
-    // distance and approximation error apply as for \c Lane::centerline.
+    // \attention For \c BoundaryPoint the same rule for the approximation
+    // error applies as for \c Lane::centerline.
     //
     repeated BoundaryPoint boundary_line = 2;
 
@@ -344,7 +351,7 @@ message LaneBoundary
         // \c BoundaryPoint .
         // Used for guard rails, curbstone, or similar.
         //
-        // \note Field need not be set if it is defined previous.
+        // \note Field need not be set if it is previously defined.
         // See \c LaneBoundary .
         //
         optional double height = 3;
@@ -353,7 +360,8 @@ message LaneBoundary
     //
     // \brief Classification data of a lane boundary.
     //
-    message Classification {
+    message Classification
+    {
         // The type of the lane boundary.
         //
         optional Type type = 1;

osi_object.proto

@@ -344,48 +344,45 @@ message MovingObject
     //
     message VehicleAttributes
     {
-        // Flag defining whether the vehicle is a simulated host vehicle: True for
-        // host vehicle(s), false for other vehicles.  See the description above!
-        optional bool host_vehicle = 1;
-
         // The ID of the driver of the (host) vehicle.
         //
         // \note Field need not be set if host_vehicle is set to false or use value
         // for non valid id.
-        optional Identifier driver_id = 2;
+        //
+        optional Identifier driver_id = 1;
 
         // Median radius of the wheels measured from a center of the wheel
         // including tire.
         //
         // Unit: [m]
         //
-        optional double radius_wheel = 3;
+        optional double radius_wheel = 2;
 
         // Number of independent wheels.
         //
         // Unit: []
         //
-        optional uint32 number_wheels = 4;
+        optional uint32 number_wheels = 3;
 
         // The vector pointing from the bounding box center point (base.position) to
         // the middle (in x, y and z) of the rear axle under neutral load
         // conditions. In object coordinates.
         //
-        optional Vector3d bbcenter_to_rear = 5;
+        optional Vector3d bbcenter_to_rear = 4;
 
         // The vector pointing from the bounding box center point (base.position) to
         // the middle (in x, y and z) of the front axle under neutral load
         // conditions. In object coordinates.
         //
-        optional Vector3d bbcenter_to_front = 6;
+        optional Vector3d bbcenter_to_front = 5;
 
         // Static minimal distance in [m] of under-body plane to ground
         // surface plane (i.e. disregarding driving dynamic effects or road
         // surface effects) under neutral load conditions. Can be useful to
         // approximate the clear area under a vehicle that a sensor can see
         // through.
         //
-        optional double ground_clearance = 7;
+        optional double ground_clearance = 6;
     }
 
     //