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Merged
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Mar 21, 2018
Merged

New proposal for SensorID List #161

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61b5389
New proposal
carsten-kuebler Mar 16, 2018
2d08aa5
Move DetectedObjectHeader to SensorData
carsten-kuebler Mar 16, 2018
bde32cc
Regularize doxygen comments, fix typos
pmai Mar 21, 2018
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146 changes: 101 additions & 45 deletions osi_detectedlandmark.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -13,53 +13,69 @@ 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.
// 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.
//
repeated RelevantLane relevant_lane = 10;

// A list of sensors which detected this detected entity.
//
// If SensorData has detected entities and all detections are missing, then
// e.g. the number of sensors can confirm the existence_probability.
//
// \note This information can be determined via the detected entities'
// detections ( \c ...Detection::object_id = 'this detected entity' ) and
// the sensors (their IDs) to which these detections belong.
//
repeated Identifier sensor_id = 11;

// Definition of traffic sign geometries.
//
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).
Expand Down Expand Up @@ -100,14 +116,17 @@ message DetectedTrafficSign

// Traffic sign has a rectangle geometry. (width is bigger than height)
// E.g. one-way
//
GEOMETRY_RECTANGLE = 10;

// Traffic sign that has a pole geometry. (height is bigger than width)
// E.g. pole indicating highways exit in xx m.
//
GEOMETRY_POLE = 11;

// Traffic sign that has an oversize rectangle geometry.
// E.g. direction plates on highway or city signs.
//
GEOMETRY_PLATE = 12;
}
}
Expand All @@ -118,12 +137,14 @@ 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 \c CandidateSign within one
// \c 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 sum of all candidate_probabilities must be one.
// 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;

// The amount of time that this detected object has been currently
Expand All @@ -134,16 +155,18 @@ message CandidateSign
}

//
// \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 sum of all candidate_probabilities must be one.
// 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;

// The amount of time that this detected object has been currently
Expand All @@ -158,16 +181,15 @@ 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.
// 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.
Expand All @@ -182,18 +204,33 @@ message DetectedTrafficLight
//
repeated RelevantLane relevant_lane = 6;

// 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.
//
// \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 light.

// 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
// e.g. the number of sensors can confirm the existence_probability.
//
// \note This information can be determined via the detected entities'
// detections ( \c ...Detection::object_id = 'this detected entity' ) and
// the sensors (their IDs) to which these detections belong.
//
repeated Identifier sensor_id = 10;

//
// \brief Further specifies the relevant directions of the traffic light.
Expand All @@ -215,15 +252,19 @@ message DetectedTrafficLight
// Direction is unknown (must not be used in ground truth).
//
DIRECTION_UNKNOWN = 0;

// Other (unspecified but known) direction.
//
DIRECTION_OTHER = 1;

// Direction is straight.
//
DIRECTION_STRAIGHT = 2;

// Direction is left.
//
DIRECTION_LEFT = 3;

// Direction is right.
//
DIRECTION_RIGHT = 4;
Expand All @@ -250,26 +291,27 @@ message RelevantLane
//
message DetectedRoadMarking
{
// Header attributes of detected road marking.
//
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.
Expand All @@ -279,9 +321,22 @@ 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;

// A list of sensors which detected this detected entity.
//
// If SensorData has detected entities and all detections are missing, then
// e.g. the number of sensors can confirm the existence_probability.
//
// \note This information can be determined via the detected entities'
// detections ( \c ...Detection::object_id = 'this detected entity' ) and
// the sensors (their IDs) to which these detections belong.
//
repeated Identifier sensor_id = 11;
}

//
Expand All @@ -293,8 +348,9 @@ message CandidateRoadMarking
//
optional RoadMarking road_marking = 1;

// The estimated probability that this candidate is the true value. Range [0,1].
// The sum of all candidate_probabilities must be one.
// 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;

// The amount of time that this detected object has been currently
Expand Down
52 changes: 33 additions & 19 deletions osi_detectedlane.proto
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Expand Up @@ -13,17 +13,14 @@ 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.
//
// 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).
// 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 = 3;

// The amount of time that this detected object has been currently
Expand All @@ -40,24 +37,31 @@ message DetectedLane
//
optional Lane lane = 4;

// The estimated probability that this lane really exists, not based on history.
// The estimated probability that this lane 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;

// A list of sensors which detected this detected entity.
//
// If SensorData has detected entities and all detections are missing, then
// e.g. the number of sensors can confirm the existence_probability.
//
// \note This information can be determined via the detected entities'
// detections ( \c ...Detection::object_id = 'this detected entity' ) and
// the sensors (their IDs) to which these detections belong.
repeated Identifier sensor_id = 6;
}

//
// \brief A lane segment as detected by the sensor.
//
message DetectedLaneBoundary
{
// Header attributes of detected lane boundary.
//
optional DetectedObjectHeader header = 1;

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

// The ID of the original LaneBoundary in the ground truth.
Expand All @@ -72,8 +76,8 @@ message DetectedLaneBoundary
// Unit: [s]
optional double age = 1000;

// State of the measurement. Lane boundary measured in the current image or Lane boundary predicted (no measurement in current image).
//
// State of the measurement. Lane boundary measured in the current image or
// lane boundary predicted (no measurement in current image).
optional MeasurementState measurement_state = 5;

// The basic measured lane boundary.
Expand Down Expand Up @@ -102,4 +106,14 @@ message DetectedLaneBoundary
// Confidence of the segments of the BoundaryPoint information from a LaneBoundary.
// For every \c lane_boundary.boundary_line point exact one \c boundary_line_confidence confidence value is specified.
repeated double boundary_line_point_confidences = 10;

// A list of sensors which detected this detected entity.
//
// If SensorData has detected entities and all detections are missing, then
// e.g. the number of sensors can confirm the existence_probability.
//
// \note This information can be determined via the detected entities'
// detections ( \c ...Detection::object_id = 'this detected entity' ) and
// the sensors (their IDs) to which these detections belong.
repeated Identifier sensor_id = 11;
}
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