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Define BaseStationary orientation for OSI::Landmarks #150

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Mar 1, 2018
Merged

Define BaseStationary orientation for OSI::Landmarks #150

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53 changes: 34 additions & 19 deletions osi_landmark.proto
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Expand Up @@ -17,6 +17,11 @@ message TrafficSign

// The base parameters of the traffic sign.
//
// The orientation of the bounding box \c TrafficSign::base.orientation is defined as:
// \c BaseStationary::orientation x-axis is the vector from bottom to top of the traffic sign's image.
// (Normally it is equal to the ground truth z-axis.)
// \c BaseStationary::orientation z-axis is view normal of the traffic sign's image.
// This z-axis points from the traffic sign's image in the direction from where a 'viewer' could see the traffic sign.
optional BaseStationary base = 2;

// The type of the traffic sign.
Expand All @@ -31,21 +36,27 @@ message TrafficSign
//
optional Variability variability = 5;

// View normal of the traffic sign. If the angle between \c -TafficSign::view_normal and \c camera_view_direction is \c (-90° .. +90°)
// the camera can see the traffic sign. Larger angles will display the backside of the traffic sign.
optional Vector3d view_normal = 6;

// The view_normal as x-Axis, the global z-Axis and an optional arrow on the displayed traffic sign.
// Arrow in direction y-Axis means right, arrow in direction of -y-Axis means left.
optional DirectionScope direction_scope = 7;
// Some traffic signs could have an additional arrow symbol as an additional constrain for the scope (e.g. no parking to the right).
// The arrow points to right resp. left from the viewpoint of a 'normal standing pedestrian' viewing the traffic sign's arrow.
//
// The definition for left and right:
// Build a fictive coord. system.
// z-axis of the fictive coord. system is equal to the GT z-axis.
// x-axis of the fictive coord. system is like the view normal of the traffic sign (\c TrafficSign::base.orientation z-axis).
// Right: direction of the fictive coord. system's y-axis.
// Left: opposite direction of the fictive coord. system's y-axis i.e. -(y-axis),
//
// \note If the traffic sign lies on the ground (there is no definition for right or left).
// Normally this is a road marking and no traffic sign.
optional DirectionScope direction_scope = 6;

// Additional, supplementary signs, e.g. time limit, modifying the traffic sign.
//
repeated SupplementarySign supplementary_sign = 8;
repeated SupplementarySign supplementary_sign = 7;

// The ids of the lanes that the traffic sign is assigned to.
// Might be multiple if the traffic sign is valid for multiple lanes.
repeated Identifier assigned_lane = 9;
repeated Identifier assigned_lane = 8;

// Definition of traffic sign types.
// Numbers given according to German StVO.
Expand Down Expand Up @@ -311,19 +322,19 @@ message TrafficSign

// Priority must be given to vehicles from the opposite direction (StVO 208).
//
TPYE_PRIORITY_TO_OPPOSITE_DIRECTION = 63;
TYPE_PRIORITY_TO_OPPOSITE_DIRECTION = 63;

// Traffic has priority over vehicles from the opposite direction (StVO 308).
//
TPYE_PRIORITY_OVER_OPPOSITE_DIRECTION = 64;
TYPE_PRIORITY_OVER_OPPOSITE_DIRECTION = 64;

// Priority must be given to vehicles from the opposite direction (StVO 208). Upside down.
//
TPYE_PRIORITY_TO_OPPOSITE_DIRECTION_UPSIDE_DOWN = 65;
TYPE_PRIORITY_TO_OPPOSITE_DIRECTION_UPSIDE_DOWN = 65;

// Traffic has priority over vehicles from the opposite direction (StVO 308). Upside down.
//
TPYE_PRIORITY_OVER_OPPOSITE_DIRECTION_UPSIDE_DOWN = 66;
TYPE_PRIORITY_OVER_OPPOSITE_DIRECTION_UPSIDE_DOWN = 66;

// Minimum safety distance for trucks (StVO 273).
//
Expand Down Expand Up @@ -460,7 +471,7 @@ message SupplementarySign

// Time range for validity of traffic sign (starting from value_1 and ending with value_2, both defining
// time of day in minutes from midnight).
TPYE_TIME_RANGE = 5;
TYPE_TIME_RANGE = 5;

// Restriction of the validity of the traffic sign depending on the vehicle's weight (more than value_1 in kilogram).
//
Expand Down Expand Up @@ -801,6 +812,15 @@ message RoadMarking

// The base parameters of the road marking.
//
// The orientation of the bounding box \c RoadMarking::base.orientation is defined as:
// \c BaseStationary::orientation x-axis is the vector from 'bottom' to 'top' of the road marking's image.
// (Normally it is in the ground truth xy-plain.)
// \c BaseStationary::orientation z-axis is view normal of the traffic sign's image.
// This z-axis points normally to the sky.
//
// \note In case of a unidirectional valid road marking, if the road marking is assigned to the
// host vehicle lane and the driving direction of the host vehice
// is 'equal' to the \c RoadMarking::base.orientation x-axis than the 'driver' has to regard the road marking.
optional BaseStationary base = 2;

// The type of the road marking.
Expand All @@ -819,11 +839,6 @@ message RoadMarking
// Might be multiple if the road marking goes across multiple lanes.
repeated Identifier assigned_lane = 6;

// Intersection orientation of the road marking.
//
// \note Defined for \c Lane::type = TYPE_INTERSECTION, otherwise zero vector
optional Vector3d roadmarking_orientation = 7;

// Definition of road marking types.
//
enum Type
Expand Down