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Restructuring DetectedXXX messages #196

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Merged
5 commits merged into from
Mar 28, 2018
Merged

Restructuring DetectedXXX messages #196

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c19815b
Restructuring
carsten-kuebler Mar 28, 2018
f9c58d0
Headers not nested.
carsten-kuebler Mar 28, 2018
9b5ed55
Merge branch 'master' into update/DetectedMessages-restructured
carsten-kuebler Mar 28, 2018
5fe1632
resolved merge conflict. Moved common messages to the top of the file…
jdsika Mar 28, 2018
7446fac
Placed common messages in the top of the file
jdsika Mar 28, 2018
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253 changes: 33 additions & 220 deletions osi_detectedlandmark.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -13,16 +13,9 @@ package osi3;
//
message DetectedTrafficSign
{
// Specific ID of the traffic sign as assigned by the sensor internally.
// Need not match with \c #ground_truth_id.
// Common information of one detected item.
//
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 = 3;
optional DetectedItemHeader header = 1;

// The main sign as detected by the sensor.
//
Expand All @@ -34,28 +27,6 @@ message DetectedTrafficSign
//
repeated EstimatedSupplementarySign supplementary_sign = 5;

// The estimated probability that this traffic sign with all supplementary
// signs 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;

// A list of sensors which detected this detected entity.
//
// If \c SensorData has detected entities and all detections are missing,
// then e.g. the number of sensors can confirm the
// \c #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.
//
// \note OSI uses singular instead of plural for repeated field names.
//
repeated Identifier sensor_id = 8;

//
// \brief Candidates for a detected sign as estimated by the sensor.
//
Expand Down Expand Up @@ -84,30 +55,16 @@ message DetectedTrafficSign
//
message CandidateMainSign
{
// Common information of one detected item candidate.
//
optional DetectedCandidateItemHeader header = 1;

// The definition of one main sign that defines this candidate.
//
// \note IDs, which are referenced in this message, usually
// reference to \c DetectedXXX::tracking_id IDs.
//
optional TrafficSign.MainSign main_sign = 1;

// The estimated probability that this candidate is the true value.
// The sum of all \c #probability must be one.
//
// Range: [0,1]
//
optional double probability = 2;

// The amount of time that this detected object has been currently
// observed/tracked.
//
// Unit: [s]
//
optional double age = 3;

// The measurement state.
//
optional MeasurementState measurement_state = 4;
optional TrafficSign.MainSign main_sign = 2;
}

// Definition of traffic sign geometries.
Expand Down Expand Up @@ -206,32 +163,17 @@ message DetectedTrafficSign
//
message CandidateSupplementarySign
{
// Common information of one detected item candidate.
//
optional DetectedCandidateItemHeader header = 1;

// The definition of one of more supplementary signs that together
// define this candidate.
//
// \note IDs, which are referenced in this message, usually
// reference to \c DetectedXXX::tracking_id IDs.
//
optional TrafficSign.SupplementarySign supplementary_sign = 1;

// The estimated probability that this candidate is the true value.
// The sum of all \c #probability of one supplementary
// sign must be one.
//
// Range: [0,1]
//
optional double probability = 2;

// The amount of time that this detected object has been currently
// observed/tracked.
//
// Unit: [s]
//
optional double age = 3;

// The measurement state.
//
optional MeasurementState measurement_state = 4;
optional TrafficSign.SupplementarySign supplementary_sign = 2;
}
}
}
Expand All @@ -241,43 +183,14 @@ message DetectedTrafficSign
//
message DetectedTrafficLight
{
// Specific ID of the traffic light as assigned by the sensor internally.
// Need not match with \c #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.
// Common information of one detected item.
//
optional Identifier ground_truth_id = 3;
optional DetectedItemHeader header = 1;

// The main sign as detected by the sensor.
//
optional EstimatedTrafficLight traffic_light = 4;

// 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 = 8;

// A list of sensors which detected this detected entity.
//
// If \c SensorData has detected entities and all detections are missing,
// then e.g. the number of sensors can confirm the
// \c #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.
//
// \note OSI uses singular instead of plural for repeated field names.
//
repeated Identifier sensor_id = 10;

//
// \brief Candidates for a detected traffic light as estimated by the
// sensor.
Expand All @@ -303,29 +216,16 @@ message DetectedTrafficLight
//
message CandidateTrafficLight
{
// Common information of one detected item candidate.
//
optional DetectedCandidateItemHeader header = 1;

// The definition of one traffic light that define this candidate.
//
// \note IDs, which are referenced in this message, usually
// reference to \c DetectedXXX::tracking_id IDs.
//
optional TrafficLight traffic_light = 1;

// The estimated probability that this candidate is the true value.
// The sum of all \c #probability must be one.
//
// Range: [0,1]
//
optional double probability = 2;

// The amount of time that this detected object has been currently
// observed/tracked.
//
// Unit: [s]
optional double age = 3;

// The measurement state.
//
optional MeasurementState measurement_state = 4;
optional TrafficLight traffic_light = 2;
}
}
}
Expand All @@ -335,43 +235,14 @@ message DetectedTrafficLight
//
message DetectedRoadMarking
{
// Specific ID of the road marking as assigned by the sensor internally.
// Need not match with \c #ground_truth_id.
// Common information of one detected item.
//
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 = 3;
optional DetectedItemHeader header = 1;

// The road marking as detected by the sensor.
//
optional EstimatedRoadMarking road_marking = 4;

// 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.
//
optional double existence_probability = 5;

// A list of sensors which detected this detected entity.
//
// If \c SensorData has detected entities and all detections are missing,
// then e.g. the number of sensors can confirm the
// \c #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.
//
// \note OSI uses singular instead of plural for repeated field names.
//
repeated Identifier sensor_id = 11;

//
// \brief Candidates for a detected traffic light as estimated by the
// sensor.
Expand All @@ -397,30 +268,16 @@ message DetectedRoadMarking
//
message CandidateRoadMarking
{
// Common information of one detected item candidate.
//
optional DetectedCandidateItemHeader header = 1;

// The description of the road marking.
//
// \note IDs, which are referenced in this message, usually
// reference to \c DetectedXXX::tracking_id IDs.
//
optional RoadMarking road_marking = 1;

// The estimated probability that this candidate is the true value.
// The sum of all \c #probability must be one.
//
// Range: [0,1]
//
optional double probability = 2;

// The amount of time that this detected object has been currently
// observed/tracked.
//
// Unit: [s]
//
optional double age = 3;

// The measurement state.
//
optional MeasurementState measurement_state = 4;
optional RoadMarking road_marking = 2;
}
}
}
Expand All @@ -430,44 +287,14 @@ message DetectedRoadMarking
//
message DetectedLandmark
{
// Specific ID of the landmark as assigned by the sensor internally.
// Need not match with \c #ground_truth_id.
// Common information of one detected item.
//
optional Identifier tracking_id = 1;

// The ID of the original landmark in the ground truth.
// In case of a ghost detection (no corresponding ground truth), this field
// should be unset.
//
// \note OSI uses singular instead of plural for repeated field names.
//
repeated Identifier ground_truth_id = 2;
optional DetectedItemHeader header = 1;

// The landmark as detected by the sensor.
//
optional EstimatedLandmark landmark = 3;

// The estimated probability that this landmark 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 = 4;

// A list of sensors which detected this detected entity.
//
// If \c 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.
//
// \note OSI uses singular instead of plural for repeated field names.
//
repeated Identifier sensor_id = 6;

//
// \brief Candidates for a detected Landmark as estimated by the
// sensor.
Expand All @@ -492,30 +319,16 @@ message DetectedLandmark
//
message CandidateLandmark
{
// Common information of one detected item candidate.
//
optional DetectedCandidateItemHeader header = 1;

// The description of the landmark.
//
// \note IDs, which are referenced in this message, usually
// reference to \c DetectedXXX::tracking_id IDs.
//
optional Landmark landmark = 1;

// The estimated probability that this candidate is the true value.
// The sum of all \c #probability must be one.
//
// Range: [0,1]
//
optional double probability = 2;

// The amount of time that this detected object has been currently
// observed/tracked.
//
// Unit: [s]
//
optional double age = 3;

// The measurement state.
//
optional MeasurementState measurement_state = 4;
optional Landmark landmark = 2;
}
}
}
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