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New detected lane model (related to Handling Junctions with OSI::GroundTruth::Lane - issue #80 and pull request #110) #111

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Merged
merged 2 commits into from
Feb 6, 2018
Merged

New detected lane model (related to Handling Junctions with OSI::GroundTruth::Lane - issue #80 and pull request #110) #111

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dc5917f
Improved DetectedLane model
carsten-kuebler Jan 16, 2018
3313aa2
New detected lane model PR feedback included
carsten-kuebler Jan 19, 2018
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44 changes: 44 additions & 0 deletions osi_detectedlane.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@ option optimize_for = SPEED;

import "osi_common.proto";
import "osi_lane.proto";
import "osi_detectedlandmark.proto";

package osi;

Expand All @@ -24,4 +25,47 @@ message DetectedLane
// Estimated probability that this lane really exists. Range [0,1].
//
optional double existence_probability = 3;

// The measurement state of the detected lane.
//
optional DetectedTrafficSign.MeasurementState measurement_state = 4;
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@pmai pmai Jan 24, 2018

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I think if the message is to be reused, it should be separated out from the DetectedTrafficSign message (it probably makes sense to have this centrally defined; I can provide a patch for this if agree upon). @CarloVanDriestenBMW ?

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@pmai pmai Jan 24, 2018

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See my comments on PR #117 , I'd propose (and do this during merging) to move MeasurementState into DetectedObjectHeader, and move DetectedObjectHeader out of DetectedObject, which should handle all of this cleanly, I think. @CarloVanDriestenBMW ?

}

//
// \brief A lane segment as detected by the sensor.
//
message DetectedLaneBoundary
{
// The id of the original laneboundary in the ground truth.
// In case of a ghost laneboundary (no corresponding ground truth), this field should be unset.
optional Identifier ground_truth_id = 1;

// The basic meassured lane boundary.
//
optional LaneBoundary lane_boundary = 2;

// State of the measurement. Lane boundary measured in the current image or Lane boundary predicted (no measurement in current image).
//
optional DetectedTrafficSign.MeasurementState measurement_state = 3;

// Probability of the detection that the lane exists.
//
optional double existence_probability = 4;

// Confidence of the classified lane boundary type.
//
optional double type_confidence = 5;

// Confidence of the classified lane marker color.
//
optional double color_confidence = 6;

// The root mean square error of the BoundaryPoint information from a LaneBoundary.
//
repeated BoundaryPoint boundary_line_rmse = 7;

// Confidence of the segments of the BoundaryPoint information from a LaneBoundary.
//
repeated double boundary_line_confidence = 8;
}

12 changes: 12 additions & 0 deletions osi_sensordata.proto
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Expand Up @@ -81,6 +81,18 @@ message SensorData
// \note Should not be used by subscribers to SensorData data.
// Generally this field should be cleared after internal processing.
optional ModelInternal model_internal = 12;

// The root mean square error of the mounting position.
//
optional MountingPosition mounting_position_rmse = 13;

// The list of road marking detected by the sensor.
// This excludes lane boundary marking as these are included in DetectedLane.
repeated DetectedLaneBoundary lane_boundary = 14;

// The id of the ego lane in the DetectedLane data, relative to the sensor.
//
optional Identifier ego_lane_id = 15;
}

//
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