Replacing semantic Traffic Lights with Traffic Light Bulbs (issue #70)

osi_detectedlandmark.proto

@@ -48,7 +48,7 @@ message DetectedTrafficSign
     // The measurement state.
     //
     optional MeasurementState measurement_state = 8;
-    
+
     // The root mean squared error of the base parameters of the detected
     // traffic sign.
     //
@@ -137,8 +137,8 @@ message DetectedTrafficSign
 message CandidateSign
 {
     // The definition of the candidate's properties.
-    // The sign.id values of all \c CandidateSign within one
-    // \c 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;
 
@@ -192,35 +192,36 @@ message DetectedTrafficLight
     //
     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.
+    //
+    repeated CandidateTrafficLight candidate_traffic_light = 4;
+
+    // The root mean squared error of the base parameters of the detected
+    // traffic light's geometry. TrafficLight::base have to be identical for all
+    // \c DetectedTrafficLight::candidate_traffic_light traffic lights.
     //
-    optional TrafficLight traffic_light = 4;
+    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.
     //
     // \note Use as confidence measure where a low value means less confidence
     // and a high value indicates strong confidence.
     //
-    optional double existence_probability = 7;
+    optional double existence_probability = 8;
 
     // The measurement state.
     //
-    optional MeasurementState measurement_state = 8;
+    optional MeasurementState measurement_state = 9;
 
-    // The root mean squared error of the base parameters of the detected
-    // traffic light.
-    //
-    optional BaseStationary rmse = 9;
-
     // A list of sensors which detected this detected entity.
     //
     // If SensorData has detected entities and all detections are missing, then 
@@ -272,6 +273,22 @@ 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.
 //