reordered DetectedObject and corrected comments

Author: jdsika

osi_common.proto

@@ -4,7 +4,6 @@ option optimize_for = SPEED;
 
 package osi3;
 
-
 //
 // \brief A cartesian 3D vector for positions, velocities or accelerations or
 // its uncertainties.
@@ -376,4 +375,4 @@ message BaseMoving
     // The polygon is defined counter-clockwise.
     //
     repeated Vector2d base_polygon = 7;
-}
+}

osi_detectedobject.proto

@@ -36,7 +36,7 @@ message DetectedItemHeader
     //
     optional double existence_probability = 3;
 
-    // The amount of time that this detected object has been continously
+    // The amount of time that this detected object has been continuously
     // observed/tracked.
     //
     // \note: 'Time stamp' - Age := 'point in time' when the object has
@@ -63,29 +63,29 @@ message DetectedItemHeader
     // \note OSI uses singular instead of plural for repeated field names.
     //
     repeated Identifier sensor_id = 6;
-}
-
-// Definition of measurement states.
-//
-enum MeasurementState
-{
-    // Measurement state is unknown (must not be used in ground truth).
+    
+    // Definition of measurement states.
     //
-    MEASUREMENT_STATE_UNKNOWN = 0;
+    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;
+        // Measurement state is unspecified (but known, i.e. value is not part of
+        // this enum list).
+        //
+        MEASUREMENT_STATE_OTHER = 1;
 
-    // Entity has been measured by the sensor in the current timestep.
-    //
-    MEASUREMENT_STATE_MEASURED = 2;
+        // Entity has been measured by the sensor in the current timestep.
+        //
+        MEASUREMENT_STATE_MEASURED = 2;
 
-    // Entity has not been measured by the sensor in the current timestep.
-    // Values provided by tracking only.
-    //
-    MEASUREMENT_STATE_PREDICTED = 3;
+        // Entity has not been measured by the sensor in the current timestep.
+        // Values provided by tracking only.
+        //
+        MEASUREMENT_STATE_PREDICTED = 3;
+    }
 }
 
 //
@@ -104,15 +104,16 @@ message DetectedMovingObject
     // \note OSI uses singular instead of plural for repeated field names.
     //
     repeated CandidateMovingObject candidate = 2;
-
-    // Additional internal data and state flags required and used by the
-    // sensor-models, should not be used by subscribers to \c SensorData.
-    // Generally this field should be cleared after internal processing.
+    
+    // Reference point location specification of the sensor measurement
+    // (required to decouple sensor measurement, position and bounding box
+    // estimation) as used by the sensor (model).
     //
-    // \note optional. List of used detections to recognize this object.
-    // Detections have also an identifier to reference to the detected object.
+    // \note Note that the value of this field has no impact on the value of
+    // object.position, which always references the center of the object /
+    // bounding box.
     //
-    optional ModelInternalObject model_internal_object = 3;
+    optional ReferencePoint reference_point = 3;
 
     // The root mean squared error of the base parameters of the detected
     // moving object (e.g. car). \c MovingObject::base has to be
@@ -141,28 +142,37 @@ message DetectedMovingObject
     // \note Field need not be set if simulated sensor is not a radar
     // sensor.
     //
-    optional RadarSpecificObjectData radar_specifics = 8;
+    optional RadarSpecificObjectData radar_specifics = 100;
 
     // Additional data that is specific to lidar sensors.
     //
     // \note Field need not be set if simulated sensor is not a lidar
     // sensor.
     //
-    optional LidarSpecificObjectData lidar_specifics = 9;
+    optional LidarSpecificObjectData lidar_specifics = 101;
 
     // Additional data that is specific to camera sensors.
     //
     // \note Field need not be set if simulated sensor is not a camera
     // sensor.
     //
-    optional CameraSpecificObjectData camera_specifics = 10;
+    optional CameraSpecificObjectData camera_specifics = 102;
 
     // Additional data that is specific to ultrasonic sensors.
     //
     // \note Field need not be set if simulated sensor is not an ultrasonic
     // sensor.
     //
-    optional UltrasonicSpecificObjectData ultrasonic_specifics = 11;
+    optional UltrasonicSpecificObjectData ultrasonic_specifics = 103;
+    
+    // Additional internal data and state flags required and used by the
+    // sensor-models, should not be used by subscribers to \c SensorData.
+    // Generally this field should be cleared after internal processing.
+    //
+    // \note optional. List of used detections to recognize this object.
+    // Detections have also an identifier to reference to the detected object.
+    //
+    optional ModelInternalObject model_internal_object = 1000;
 
     //
     // \brief A candidate for a detected moving object as estimated by the
@@ -184,16 +194,6 @@ message DetectedMovingObject
         //
         optional MovingObject moving_object = 2;
 
-        // Reference point location specification of the sensor measurement
-        // (required to decouple sensor measurement, position and bounding box
-        // estimation) as used by the sensor (model).
-        //
-        // \note Note that the value of this field has no impact on the value of
-        // object.position, which always references the center of the object /
-        // bounding box.
-        //
-        optional ReferencePoint reference_point = 3;
-
         // Pedestrian head pose for behavior prediction. Describes the head
         // orientation w.r.t. the host vehicle orientation.
         // The x-axis of the right-handed head frame is pointing along the
@@ -205,7 +205,7 @@ message DetectedMovingObject
         // \par References:
         // \li [1] https://en.wikipedia.org/wiki/Anatomical_terms_of_location
         //
-        optional Orientation3d head_pose = 4;
+        optional Orientation3d head_pose = 3;
 
         // Pedestrian upper body pose for behavior prediction. Describes the
         // upper body orientation w.r.t. the host vehicle orientation.
@@ -219,7 +219,7 @@ message DetectedMovingObject
         // \par References:
         // \li [2] https://en.wikipedia.org/wiki/Anatomical_terms_of_location
         //
-        optional Orientation3d upper_body_pose = 5;
+        optional Orientation3d upper_body_pose = 4;
     }
 
     // Definition of available reference points. Left/middle/right and

osi_featuredata.proto

@@ -220,7 +220,6 @@ message LidarDetection
     // Basic classification of the detection.
     //
     optional DetectionClassification classification = 9;
-
 }
 
 //
@@ -338,4 +337,4 @@ enum DetectionClassification
     // Under-drivable (sign gantry etc.).
     //
     DETECTION_CLASSIFICATION_UNDERDRIVABLE = 5;
-}
+}

osi_object.proto

@@ -8,10 +8,10 @@ package osi3;
 
 //
 // \brief A simulated object that is neither a moving object (vehicle or
-// \c MovingObject e.g. pedestrian or animal) nor a stationary object
-// (traffic sign, traffic light).
+// \c MovingObject e.g. pedestrian, animal, or vehicle) nor a traffic related
+// object (\c TrafficLight, \c TrafficSign).
 //
-// \c StationaryObject excludes traffic lights and traffic signs
+// \c StationaryObject excludes traffic lights, traffic signs and road marking
 //
 message StationaryObject
 {
@@ -47,76 +47,72 @@ message StationaryObject
         //
         TYPE_BUILDING = 3;
 
-        // Object is a pole (e.g. traffic light).
+        // Object is a pole (e.g. from a traffic light).
         //
         TYPE_POLE = 4;
 
         // Object is a pylon.
         //
         TYPE_PYLON = 5;
 
-        // Object is a reflector post.
-        //
-        TYPE_REFLECTOR_POST = 6;
-
         // Object is a delineator (e.g. at a construction site).
         //
-        TYPE_DELINEATOR = 7;
+        TYPE_DELINEATOR = 6;
 
         // Object is a tree.
         //
-        TYPE_TREE = 8;
+        TYPE_TREE = 7;
 
         // Object is a barrier.
         //
-        TYPE_BARRIER = 9;
+        TYPE_BARRIER = 8;
 
         // Object is vegetation.
         //
-        TYPE_VEGETATION = 10;
+        TYPE_VEGETATION = 9;
 
         // Object is a curbstone.
         //
-        TYPE_CURBSTONE = 11;
+        TYPE_CURBSTONE = 10;
 
         // Object is a wall.
         //
-        TYPE_WALL = 12;
+        TYPE_WALL = 11;
 
-        // Landmarks corresponding to vertical structures in the environment,
-        // like poles.
+        // Landmarks corresponding to vertical structures in the environment.
         //
-        TYPE_VERTICAL_STRUCTURE = 13;
+        TYPE_VERTICAL_STRUCTURE = 12;
 
         // Landmarks corresponding to rectangular structures in the environment,
         // like walls.
         //
-        TYPE_RECTANGULAR_STRUCTURE = 14;
+        TYPE_RECTANGULAR_STRUCTURE = 13;
 
         // Landmarks corresponding to overhead structures in the environment,
         // like sign bridges.
         //
-        TYPE_OVERHEAD_STRUCTURE = 15;
+        TYPE_OVERHEAD_STRUCTURE = 14;
 
         // Landmarks corresponding to light sources or reflective structures in
         // the environment, like street lights or reflective poles on the road
         // boarder.
         //
-        TYPE_REFLECTIVE_STRUCTURE = 16;
+        TYPE_REFLECTIVE_STRUCTURE = 15;
 
         // Landmarks corresponding to construction site elements in the
         // environment, like cones or beacons.
         //
-        TYPE_CONSTRUCTION_SITE_ELEMENT = 17;
+        TYPE_CONSTRUCTION_SITE_ELEMENT = 16;
     }
 }
 
 //
 // \brief A simulated object that is either a vehicle or another
 // moving object (animal, pedestrian, etc), but not a stationary
-// object (traffic sign, traffic light, \c StationaryObject).
+// object (\c TrafficLight, \c TrafficSign, or \c StationaryObject).
 //
-// \note If the \c MovingObject.Type is a vehicle.
+// \note The field \c MovingObject.vehicle_extension has to be
+// filled if the \c MovingObject.Type is a vehicle.
 //
 message MovingObject
 {
@@ -145,7 +141,7 @@ message MovingObject
 
     // Specific information about the vehicle.
     //
-    // \note This field is mandatory if the type is
+    // \note This field is mandatory if the \c MovingObject.type is
     // \c #TYPE_VEHICLE .
     //
     optional Vehicle vehicle_extension = 5;
@@ -161,18 +157,18 @@ message MovingObject
         // Other (unspecified but known) type of moving object.
         //
         TYPE_OTHER = 1;
+        
+        // Object is a vehicle.
+        //
+        TYPE_VEHICLE = 2;
 
         // Object is a pedestrian.
         //
-        TYPE_PEDESTRIAN = 2;
+        TYPE_PEDESTRIAN = 3;
 
         // Object is an animal.
         //
-        TYPE_ANIMAL = 3;
-
-        // Object is a vehicle.
-        //
-        TYPE_VEHICLE = 4;
+        TYPE_ANIMAL = 4;    
     }
 
     //
@@ -277,18 +273,18 @@ message MovingObject
             // Definition: Hatchback car with maximum length 4 m.
             //
             TYPE_SMALL_CAR = 2;
-
-            // Vehicle is a medium car.
+            
+            // Vehicle is a compact car.
             //
-            // Definition: Hatchback or sedan with lenght between 4.5 and 5 m.
+            // Definition: Hatchback car with length between 4 and 4.5 m.
             //
-            TYPE_MEDIUM_CAR = 3;
+            TYPE_COMPACT_CAR = 3;
 
-            // Vehicle is a compact car.
+            // Vehicle is a medium car.
             //
-            // Definition: Hatchback car with length between 4 and 4.5 m.
+            // Definition: Hatchback or sedan with lenght between 4.5 and 5 m.
             //
-            TYPE_COMPACT_CAR = 4;
+            TYPE_MEDIUM_CAR = 4;
 
             // Vehicle is a luxury  car.
             //

osi_occupant.proto

@@ -117,4 +117,4 @@ message Occupant
         //
         STEERING_CONTROL_RIGHT_HAND = 6;
     }
-}
+}