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Merged
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Feb 6, 2018
Merged

Detected Objects adapted to real sensor structures. #117

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2748bff
Detected objects adapted to real sensor structures
carsten-kuebler Jan 19, 2018
8bff0e2
Further refactoring of DetectedObject
Jan 31, 2018
613bc6c
Extended representation of body poses
Jan 31, 2018
994012b
Minor measurement state documentation cleanup
pmai Feb 6, 2018
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119 changes: 65 additions & 54 deletions osi_detectedlandmark.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_landmark.proto";
import "osi_detectedobject.proto";

package osi;

Expand All @@ -12,40 +13,49 @@ package osi;
//
message DetectedTrafficSign
{
// Header attributes of detected traffic sign.
//
optional DetectedObjectHeader header = 1;

// 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.
optional Identifier ground_truth_id = 1;
optional Identifier ground_truth_id = 3;

// A list of candidates for this traffic sign as estimated by the sensor.
//
repeated CandidateSign candidate_sign = 2;
repeated CandidateSign candidate_sign = 4;

// A list of candidates for (a) possible supplementary sign(s) as estimated by the sensor.
//
repeated CandidateSupplementarySign candidate_supplementary_sign = 3;
repeated CandidateSupplementarySign candidate_supplementary_sign = 5;

// The detected geometry of the traffic sign.
//
optional Geometry geometry = 4;
optional Geometry geometry = 6;

// The estimated probability that this traffic sign really exists. Range [0,1].
//
optional double existence_probability = 5;

// The measurement state of the traffic sign.
//
optional MeasurementState measurement_state = 6;
// 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.
optional double existence_probability = 7;

// The standard deviation of the base parameters of the detected traffic sign.
//
optional BaseStationary standard_deviation = 7;
// The measurement state.
//
optional MeasurementState measurement_state = 8;
// The root mean square error of the base parameters of the detected traffic sign.
//
optional BaseStationary rmse = 9;

// Links to the corresponding lanes.
//
repeated RelevantLane relevant_lane = 8;
repeated RelevantLane relevant_lane = 10;

// Definition of traffic sign geometries.
//
//
enum Geometry
{
// Geometry of the traffic sign is unknown (must not be used in ground truth).
Expand All @@ -68,27 +78,6 @@ message DetectedTrafficSign
//
GEOMETRY_SQUARE = 4;
}

// 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;

// Traffic sign has been measured by the sensor in the current timestep.
//
MEASUREMENT_STATE_MEASURED = 2;

// Traffic sign has not been measured by the sensor in the current timestep. Values provided by tracking only.
//
MEASUREMENT_STATE_PREDICTED = 3;
}
}

//
Expand Down Expand Up @@ -125,29 +114,42 @@ message CandidateSupplementarySign
//
message DetectedTrafficLight
{
// Header attributes of detected traffic light.
//
optional DetectedObjectHeader header = 1;

// 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.
optional Identifier ground_truth_id = 1;
optional Identifier ground_truth_id = 3;

// Description of the detected traffic light.
//
optional TrafficLight traffic_light = 2;
optional TrafficLight traffic_light = 4;

// Determines for which directions the traffic light applies.
//
repeated RelevantDirection relevant_direction = 3;
repeated RelevantDirection relevant_direction = 5;

// Links to the corresponding lanes.
//
repeated RelevantLane relevant_lane = 4;
repeated RelevantLane relevant_lane = 6;

// Existence probability. Range [0,1].
// The estimated probability that this traffic light really exists, not based on history.
//
optional double existence_probability = 5;
// \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 standard deviation of the base parameters of the detected traffic light.
// The measurement state.
//
optional MeasurementState measurement_state = 8;
// The root mean square error of the base parameters of the detected traffic light.
//
optional BaseStationary standard_deviation = 6;
optional BaseStationary rmse = 9;

//
// \brief Further specifies the relevant directions of the traffic light.
Expand Down Expand Up @@ -204,29 +206,38 @@ message RelevantLane
//
message DetectedRoadMarking
{
// Tracking id of the road marking.
// Header attributes of detected road marking.
//
optional Identifier tracking_id = 1;
optional DetectedObjectHeader header = 1;

// 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.
optional Identifier ground_truth_id = 2;
optional Identifier ground_truth_id = 3;

// A list of candidates for this road marking as estimated by the sensor.
//
repeated CandidateRoadMarking candidate_road_marking = 3;
repeated CandidateRoadMarking candidate_road_marking = 4;

// Existence probability. Range [0,1].
// The estimated probability that this road marking really exists, not based on history.
//
optional double existence_probability = 4;
// \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.
//
repeated RelevantLane relevant_lane = 5;
repeated RelevantLane relevant_lane = 6;

// The standard deviation of the base parameters of the detected road marking.
// The measurement state.
//
optional MeasurementState measurement_state = 7;
// The root mean square error of the base parameters of the detected road marking.
//
optional BaseStationary standard_deviation = 6;
optional BaseStationary rmse = 8;
}

//
Expand Down
27 changes: 16 additions & 11 deletions osi_detectedlane.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@ option optimize_for = SPEED;

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

package osi;

Expand All @@ -13,22 +13,28 @@ package osi;
//
message DetectedLane
{
// Header attributes of detected lane.
//
optional DetectedObjectHeader header = 1;

// Specific id of the detected lane as assigned by the sensor internally. Need not match with ground_truth_id.
//
optional Identifier tracking_id = 2;

// The id of the original lane in the ground truth.
// Multiple entries if the detected lane is a merge of multiple lanes in ground truth (as lane segment definitions
// may vary between sensor and ground truth).
repeated Identifier ground_truth_id = 1;
repeated Identifier ground_truth_id = 3;

// The detected lane.
//
optional Lane lane = 2;
optional Lane lane = 4;

// Estimated probability that this lane really exists. Range [0,1].
// The estimated probability that this lane really exists, not based on history.
//
optional double existence_probability = 3;

// The measurement state of the detected lane.
//
optional DetectedTrafficSign.MeasurementState measurement_state = 4;
// \note Use as confidence measure where a low value means less confidence and a high value indicates
// strong confidence.
optional double existence_probability = 5;
}

//
Expand All @@ -46,7 +52,7 @@ message DetectedLaneBoundary

// 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;
optional MeasurementState measurement_state = 3;

// Probability of the detection that the lane exists.
//
Expand All @@ -68,4 +74,3 @@ message DetectedLaneBoundary
//
repeated double boundary_line_confidence = 8;
}

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