New proposal

Test

Author: carsten-kuebler

osi_detectedlandmark.proto

@@ -53,6 +53,16 @@ message DetectedTrafficSign
     // 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.
     //
@@ -191,9 +201,20 @@ message DetectedTrafficLight
     // The measurement state.
     //
     optional MeasurementState measurement_state = 8;
+    
     // 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.
@@ -279,9 +300,20 @@ message DetectedRoadMarking
     // The measurement state.
     //
     optional MeasurementState measurement_state = 7;
+    
     // 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;    
 }
 
 //

osi_detectedlane.proto

@@ -45,6 +45,16 @@ message DetectedLane
     // \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;    
 }
 
 //
@@ -102,4 +112,14 @@ 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;    
 }

osi_detectedobject.proto

@@ -135,6 +135,16 @@ message DetectedObject
     // Percentage value of the object width in the corresponding lane.
     optional double percentage_side_lane_right = 21;
 
+    // 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 = 22;    
+    
     // Definition of available reference points. Left/middle/right and 
     // front/middle/rear indicate the position in y- and x-direction 
     // respectively. The z position is always considered as middle.
@@ -300,25 +310,21 @@ message DetectedObject
 //
 message DetectedObjectHeader
 {
-    // Version number of used detected object messages (DetectedObject etc.).
-    //
-    optional InterfaceVersion version = 1;
-
     // Time stamp at which the measurement was taken (not the time at which it
     // was processed or at which it is transmitted) in the global synchronized
     // time.
     //
     // \note See SensorData::timestamp and SensorData::last_measurement_time
     // for detailed discussions on the semantics of time-related fields.
-    optional Timestamp measurement_time = 2;
+    optional Timestamp measurement_time = 1;
 
     // Continuous up counter to identify the cycle.
     //
-    optional uint32 cycle_counter = 3;
+    optional uint32 cycle_counter = 2;
 
     // Data Qualifier expresses to what extent the content of this event can be
     // relied on.
-    optional DataQualifier data_qualifier = 4;
+    optional DataQualifier data_qualifier = 3;
 
     //
     // \brief Data qualifier communicates the overall availability of the

osi_detectedoccupant.proto

@@ -44,4 +44,18 @@ message DetectedOccupant
     // \note Use as confidence measure where a low value means less confidence and a high value indicates
     // strong confidence.
     optional double existence_probability = 5;
+
+    // The measurement state.
+    //
+    optional MeasurementState measurement_state = 6;
+   
+    // 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 = 7;    
 }

osi_featuredata.proto

@@ -91,6 +91,12 @@ message SensorDetectionHeader
     //
     // \note This value has to be set if the list contains invalid detections.    
     optional uint32 number_of_valid_detections = 7;
+    
+    // The ID of the sensor at host vehicle's mounting_position.
+    //
+    // This ID can equal \c SensorData::sensor_id, if SensorData hold only data
+    // from one sensor/sensor model.
+    optional Identifier sensor_id = 8;
 
     // \brief Data qualifier communicates the overall availability of the 
     // interface.

osi_sensordata.proto

@@ -26,9 +26,11 @@ package osi;
 //
 message SensorData
 {  
-    // The ID of the sensor.
+    // The ID of the sensor at host vehicle's mounting_position.
     //
-    optional Identifier id = 1;
+    // This ID can equal \c DetectionHeader::sensor_id, if SensorData hold only
+    // data from one sensor/sensor model.
+    optional Identifier sensor_id = 1;
 
     // The timestamp of the sensor data. Zero time is arbitrary but must be
     // identical for all messages. Zero time does not need to coincide with