Replace semantic Traffic Lights with Traffic Light Bulbs

Review and reformating of documentation.

Unifying enum names.

Change Traffic Lights from semantic representation (light box) to syntactic representation (light bulbs)

Author: Carsten Kuebler

osi_detectedlandmark.proto

@@ -17,37 +17,39 @@ message DetectedTrafficSign
     //
     optional DetectedObjectHeader header = 1;
 
-    // Specific ID of the traffic sign as assigned by the sensor internally. Need not match with ground_truth_id.
-    //
+    // Specific ID of the traffic sign as assigned by the sensor internally.
+    // Need not match with ground_truth_id.
     optional Identifier tracking_id = 2;
 
     // The ID of the original traffic sign in the ground truth.
-    // In case of a ghost sign (no corresponding ground truth), this field should be unset.
+    // In case of a ghost sign (no corresponding ground truth), this field
+    // should be unset.
     optional Identifier ground_truth_id = 3;
 
     // A list of candidates for this traffic sign as estimated by the sensor.
     //    
     repeated CandidateSign candidate_sign = 4;
 
-    // A list of candidates for (a) possible supplementary sign(s) as estimated by the sensor.
-    //    
+    // A list of candidates for (a) possible supplementary sign(s) as estimated
+    //     by the sensor.
     repeated CandidateSupplementarySign candidate_supplementary_sign = 5;
 
     // The detected geometry of the traffic sign.
     //    
     optional Geometry geometry = 6;
 
-    // The estimated probability that this traffic sign really exists, not based on history.
+    // The estimated probability that this traffic sign 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.
+    // \note Use as confidence measure where a low value means less confidence
+    // and a high value indicates strong confidence.
     optional double existence_probability = 7;
 
     // The measurement state.
     //
     optional MeasurementState measurement_state = 8;
-    // The root mean squared error of the base parameters of the detected traffic sign.
-    //
+    // The root mean squared error of the base parameters of the detected
+    // traffic sign.
     optional BaseStationary rmse = 9;
 
     // Links to the corresponding lanes.
@@ -58,8 +60,8 @@ message DetectedTrafficSign
     //
     enum Geometry
     {
-        // Geometry of the traffic sign is unknown (must not be used in ground truth).
-        //    
+        // Geometry of the traffic sign is unknown (must not be used in ground
+        // truth).
         GEOMETRY_UNKNOWN = 0;
 
         // Geometry of the traffic sign is unspecified (but known).
@@ -118,25 +120,27 @@ message DetectedTrafficSign
 message CandidateSign
 {
     // The definition of the candidate's properties.
-    // The sign.id values of all CandidateSigns within one DetectedTrafficSign correspond to the tracking ID and must
-    // be identical.
+    // The sign.id values of all CandidateSigns within one DetectedTrafficSign
+    // correspond to the tracking ID and must be identical.
     optional TrafficSign sign = 1;
 
-    // The estimated probability that this candidate is the true value. Range [0,1].
+    // The estimated probability that this candidate is the true value.
+    // Range [0,1].
     // The sum of all candidate_probabilities must be one.
     optional double candidate_probability = 2;
 }
 
 //
-// \brief A candidate for (a) detected supplementary sign(s) as estimated by the sensor.
-//
+// \brief A candidate for (a) detected supplementary sign(s) as estimated by the
+// sensor.
 message CandidateSupplementarySign
 {
-    // The definition of one of more supplementary signs that together define this candidate.
-    //
+    // The definition of one of more supplementary signs that together define
+    // this candidate.
     repeated SupplementarySign sign = 1;
 
-    // The estimated probability that this candidate is the true value. Range [0,1].
+    // The estimated probability that this candidate is the true value. 
+    // Range [0,1].
     // The sum of all candidate_probabilities must be one.
     optional double candidate_probability = 2;
 }
@@ -150,38 +154,41 @@ message DetectedTrafficLight
     //
     optional DetectedObjectHeader header = 1;
 
-    // Specific ID of the traffic light as assigned by the sensor internally. Need not match with ground_truth_id.
-    //
+    // Specific ID of the traffic light as assigned by the sensor internally.
+    // Need not match with ground_truth_id.
     optional Identifier tracking_id = 2;
 
     // The ID of the original traffic light in the ground truth.
-    // In case of a ghost detection (no corresponding ground truth), this field should be unset.
+    // In case of a ghost detection (no corresponding ground truth), this field
+    // should be unset.
     optional Identifier ground_truth_id = 3;
 
-    // Description of the detected traffic light.
+    // A list of candidates for this traffic light as estimated by the sensor.
     //
-    optional TrafficLight traffic_light = 4;
+    repeated CandidateTrafficLight candidate_traffic_light = 4;
+    
+    // The root mean squared error of the base parameters of the detected
+    // traffic light.
+    optional BaseStationary rmse = 5;
 
     // Determines for which directions the traffic light applies.
     //
-    repeated RelevantDirection relevant_direction = 5;
+    repeated RelevantDirection relevant_direction = 6;
 
     // Links to the corresponding lanes.
     //
-    repeated RelevantLane relevant_lane = 6;
+    repeated RelevantLane relevant_lane = 7;
 
-    // The estimated probability that this traffic light really exists, not based on history.
+    // The estimated probability that this traffic light 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 = 7;
+    // \note Use as confidence measure where a low value means less confidence
+    // and a high value indicates strong confidence.
+    optional double existence_probability = 8;
 
     // The measurement state.
     //
-    optional MeasurementState measurement_state = 8;
-    // The root mean squared error of the base parameters of the detected traffic light.
-    //
-    optional BaseStationary rmse = 9;
+    optional MeasurementState measurement_state = 9;
 
     //
     // \brief Further specifies the relevant directions of the traffic light.
@@ -219,6 +226,21 @@ message DetectedTrafficLight
     }
 }
 
+//
+// \brief A candidate for (a) detected traffic light(s) as estimated by the
+// sensor.
+message CandidateTrafficLight
+{
+    // The definition of one traffic light that define this candidate.
+    //
+    optional TrafficLight traffic_light = 1;
+
+    // The estimated probability that this candidate is the true value. 
+    // Range [0,1].
+    // The sum of all candidate_probabilities must be one.
+    optional double candidate_probability = 2;
+}
+
 //
 // \brief Further specifies the relevant lane of a detected object.
 //
@@ -242,22 +264,25 @@ message DetectedRoadMarking
     //
     optional DetectedObjectHeader header = 1;
 
-    // Specific ID of the road marking as assigned by the sensor internally. Need not match with ground_truth_id.
+    // Specific ID of the road marking as assigned by the sensor internally. 
+    // Need not match with ground_truth_id.
     //
     optional Identifier tracking_id = 2;
 
     // The ID of the original road marking in the ground truth.
-    // In case of a ghost detection (no corresponding ground truth), this field should be unset.
+    // In case of a ghost detection (no corresponding ground truth), this field
+    // should be unset.
     optional Identifier ground_truth_id = 3;
 
     // A list of candidates for this road marking as estimated by the sensor.
     //
     repeated CandidateRoadMarking candidate_road_marking = 4;
 
-    // The estimated probability that this road marking really exists, not based on history.
+    // The estimated probability that this road marking 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.
+    // \note Use as confidence measure where a low value means less confidence
+    // and a high value indicates strong confidence.
     optional double existence_probability = 5;
 
     // Links to the corresponding lanes.
@@ -267,8 +292,8 @@ message DetectedRoadMarking
     // The measurement state.
     //
     optional MeasurementState measurement_state = 7;
-    // The root mean squared error of the base parameters of the detected road marking.
-    //
+    // The root mean squared error of the base parameters of the detected road
+    // marking.
     optional BaseStationary rmse = 8;
 }
 
@@ -281,7 +306,8 @@ message CandidateRoadMarking
     //
     optional RoadMarking road_marking = 1;
 
-    // The estimated probability that this candidate is the true value. Range [0,1].
+    // The estimated probability that this candidate is the true value. 
+    // Range [0,1].
     // The sum of all candidate_probabilities must be one.
     optional double candidate_probability = 2;
 }