Merge branch 'master' into Suggestion/StationaryObject-as-Landmark

Author: jdsika

.travis.yml

@@ -15,6 +15,8 @@ cache:
 
 # Handle dependencies in separate directory.
 before_install:
+    - TESTINST_DIR="${HOME}/dummy"
+    - mkdir -p "${TESTINST_DIR}"
     - DEPS_DIR="${HOME}/deps"
     - mkdir -p "${DEPS_DIR}"
     - cd "${DEPS_DIR}"
@@ -40,9 +42,11 @@ before_script:
 script:
     - mkdir -p build
     - cd build
-    - cmake -D CMAKE_PREFIX_PATH:PATH=${DEPS_DIR}/protobuf/install ..
+    - cmake -D CMAKE_PREFIX_PATH:PATH=${DEPS_DIR}/protobuf/install -D CMAKE_INSTALL_PREFIX:PATH=${TESTINST_DIR} ..
     - cmake --build .
     - cd ..
     - python test_cases.py
     - python setup.py build
     - python setup.py sdist
+    - cd build
+    - cmake --build . --target install

CMakeLists.txt

@@ -39,6 +39,9 @@ foreach(LINE ${VERSION_CONTENTS})
 endforeach()
 set(OPEN_SIMULATION_INTERFACE_VERSION ${VERSION_MAJOR}.${VERSION_MINOR}.${VERSION_PATCH})
 
+set(INSTALL_LIB_DIR ${INSTALL_LIB_DIR}/osi${VERSION_MAJOR})
+set(INSTALL_INCLUDE_DIR ${INSTALL_INCLUDE_DIR}/osi${VERSION_MAJOR})
+
 configure_file(osi_version.proto.in ${CMAKE_CURRENT_SOURCE_DIR}/osi_version.proto)
 
 find_package(Protobuf 2.6.1 REQUIRED)
@@ -105,7 +108,6 @@ install(TARGETS ${PROJECT_NAME}_pic
         EXPORT ${PROJECT_NAME}_targets
         ARCHIVE DESTINATION "${INSTALL_LIB_DIR}" COMPONENT lib)
 
-
 add_library(${PROJECT_NAME} SHARED $<TARGET_OBJECTS:${PROJECT_NAME}_obj>)
 target_include_directories(${PROJECT_NAME}
     PUBLIC
@@ -141,7 +143,7 @@ install(FILES
 
 # Header files
 install(FILES ${PROTO_HEADERS}
-        DESTINATION "${CMAKE_INSTALL_PREFIX}/${INSTALL_INCLUDE_DIR}")
+        DESTINATION "${INSTALL_INCLUDE_DIR}")
 
 # Install the export set for use with the install-tree
 install(EXPORT ${PROJECT_NAME}_targets

VERSION

@@ -1,3 +1,3 @@
-VERSION_MAJOR = 2
-VERSION_MINOR = 2
-VERSION_PATCH = 0
+VERSION_MAJOR = 3
+VERSION_MINOR = 0
+VERSION_PATCH = 0

osi_common.proto

@@ -2,7 +2,7 @@ syntax = "proto2";
 
 option optimize_for = SPEED;
 
-package osi;
+package osi3;
 
 
 //

osi_datarecording.proto

@@ -4,7 +4,7 @@ option optimize_for = SPEED;
 
 import "osi_sensordata.proto";
 
-package osi;
+package osi3;
 
 //
 // \brief (Time) Series of \c SensorData messages that may be used for data

osi_detectedlandmark.proto

@@ -6,7 +6,7 @@ import "osi_common.proto";
 import "osi_landmark.proto";
 import "osi_detectedobject.proto";
 
-package osi;
+package osi3;
 
 //
 // \brief A traffic sign in the environment as detected by the sensor.
@@ -42,12 +42,6 @@ message DetectedTrafficSign
     //
     optional double existence_probability = 7;
 
-    // Links to the corresponding lanes.
-    //
-    // \note OSI uses singular instead of plural for repeated field names.
-    //
-    repeated RelevantLane relevant_lane_id = 10;
-
     // A list of sensors which detected this detected entity.
     //
     // If \c SensorData has detected entities and all detections are missing,
@@ -60,7 +54,7 @@ message DetectedTrafficSign
     //
     // \note OSI uses singular instead of plural for repeated field names.
     //
-    repeated Identifier sensor_id = 11;
+    repeated Identifier sensor_id = 8;
 
     //
     // \brief Candidates for a detected sign as estimated by the sensor.
@@ -262,18 +256,6 @@ message DetectedTrafficLight
     //
     optional EstimatedTrafficLight traffic_light = 4;
 
-    // Determines for which directions the traffic light applies.
-    //
-    // \note OSI uses singular instead of plural for repeated field names.
-    //
-    repeated RelevantDirection relevant_direction = 6;
-
-    // Links to the corresponding lanes.
-    //
-    // \note OSI uses singular instead of plural for repeated field names.
-    //
-    repeated RelevantLane relevant_lane = 7;
-
     // The estimated probability that this traffic light really exists, not
     // based on history.
     //
@@ -346,62 +328,6 @@ message DetectedTrafficLight
             optional MeasurementState measurement_state = 4;
         }
     }
-
-    //
-    // \brief Further specifies the relevant directions of the traffic light.
-    //
-    message RelevantDirection
-    {
-        // The direction the traffic light corresponds to.
-        //
-        optional Direction direction = 1;
-
-        // Relevance probability.
-        //
-        // Range: [0,1]
-        //
-        optional double relevance_probability = 2;
-
-        // Specifies the different directions.
-        //
-        enum Direction
-        {
-            // 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;
-        }
-    }
-}
-
-//
-// \brief Further specifies the relevant lane of a detected object.
-//
-message RelevantLane
-{
-    // Tracking ID of the lane segment.
-    //
-    optional Identifier lane_id = 1;
-
-    // Relevance probability.
-    //
-    // Range: [0,1]
-    optional double relevance_probability = 2;
 }
 
 //
@@ -432,12 +358,6 @@ message DetectedRoadMarking
     //
     optional double existence_probability = 5;
 
-    // Links to the corresponding lanes.
-    //
-    // \note OSI uses singular instead of plural for repeated field names.
-    //
-    repeated RelevantLane relevant_lane = 6;
-
     // A list of sensors which detected this detected entity.
     //
     // If \c SensorData has detected entities and all detections are missing,

osi_detectedlane.proto

@@ -6,7 +6,7 @@ import "osi_common.proto";
 import "osi_lane.proto";
 import "osi_detectedobject.proto";
 
-package osi;
+package osi3;
 
 //
 // \brief A lane segment as detected by the sensor.
@@ -16,7 +16,7 @@ message DetectedLane
     // Specific ID of the detected lane as assigned by the sensor internally.
     // Need not match with \c #ground_truth_id IDs.
     //
-    optional Identifier tracking_id = 2;
+    optional Identifier tracking_id = 1;
 
     // The ID of the original lane in the ground truth.
     // Multiple entries if the detected lane is a merge of multiple lanes in
@@ -25,33 +25,19 @@ message DetectedLane
     //
     // \note OSI uses singular instead of plural for repeated field names.
     //
-    repeated Identifier ground_truth_id = 3;
-
-    // The amount of time that this detected object has been currently
-    // observed/tracked.
-    //
-    // Unit: [s]
-    //
-    optional double age = 1000;
-
-    // The measurement state of the detected object.
-    //
-    optional MeasurementState measurement_state = 1001;
-
-    // The detected lane.
+    repeated Identifier ground_truth_id = 2;
+        
+    // The lane as detected by the sensor.
     //
-    // \note IDs, which is referenced in this message, usually reference to
-    // \c DetectedXXX::tracking_id IDs.
-    //
-    optional Lane lane = 4;
-
+    optional EstimatedLane lane = 3;
+    
     // 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.
     //
-    optional double existence_probability = 5;
+    optional double existence_probability = 4;
 
     // A list of sensors which detected this detected entity.
     //
@@ -65,7 +51,51 @@ message DetectedLane
     //
     // \note OSI uses singular instead of plural for repeated field names.
     //
-    repeated Identifier sensor_id = 6;
+    repeated Identifier sensor_id = 5;
+
+    //
+    // \brief Candidates for a detected lane as estimated by the sensor.
+    //
+    message EstimatedLane
+    {
+        // A list of candidates for this lane as estimated by the sensor.
+        //
+        // \note OSI uses singular instead of plural for repeated field names.
+        //
+        repeated CandidateLane candidate = 1;
+
+        //
+        // \brief A candidate for a detected lane as estimated by the
+        // sensor.
+        //
+        message CandidateLane
+        {
+            // The definition of one lane that defines this candidate.
+            //
+            // \note IDs, which are referenced in this message, usually
+            // reference to \c DetectedXXX::tracking_id IDs.
+            //
+            optional Lane lane = 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;
+        }
+    }
 }
 
 //
@@ -76,26 +106,26 @@ message DetectedLaneBoundary
     // Specific ID of the detected lane boundary as assigned by the sensor
     // internally. Need not match with \c #ground_truth_id.
     //
-    optional Identifier tracking_id = 2;
+    optional Identifier tracking_id = 1;
 
     // The ID of the original \c LaneBoundary in the ground truth.
     //
     // \note In case of a ghost \c LaneBoundary (no corresponding ground truth),
     // this field should be unset.
     //
-    optional Identifier ground_truth_id = 3;
+    optional Identifier ground_truth_id = 2;
 
     // The lane boundary as detected by the sensor.
     //
-    optional EstimatedLaneBoundary lane_boundary = 4;
+    optional EstimatedLaneBoundary lane_boundary = 3;
 
     // The estimated probability that this lane boundary 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 = 6;
+    optional double existence_probability = 4;
 
     // A list of sensors which detected this detected entity.
     //
@@ -109,7 +139,7 @@ message DetectedLaneBoundary
     //
     // \note OSI uses singular instead of plural for repeated field names.
     //
-    repeated Identifier sensor_id = 11;
+    repeated Identifier sensor_id = 5;
 
     //
     // \brief Candidates for a detected lane boundary as estimated by the
@@ -140,7 +170,7 @@ message DetectedLaneBoundary
         repeated double boundary_line_confidences = 3;
 
         //
-        // \brief A candidate for a detected traffic sign as estimated by the
+        // \brief A candidate for a detected lane boundary as estimated by the
         // sensor.
         //
         message CandidateLaneBoundary

osi_detectedobject.proto

@@ -7,7 +7,7 @@ import "osi_modelinternal.proto";
 import "osi_object.proto";
 import "osi_sensorspecific.proto";
 
-package osi;
+package osi3;
 
 //
 // \brief Object in the environment as detected and perceived by the sensor.

osi_detectedoccupant.proto

@@ -6,7 +6,7 @@ import "osi_common.proto";
 import "osi_occupant.proto";
 import "osi_detectedobject.proto";
 
-package osi;
+package osi3;
 
 //
 // \brief A vehicle occupant as detected and perceived by an interior sensor.

osi_environment.proto

@@ -2,7 +2,7 @@ syntax = "proto2";
 
 option optimize_for = SPEED;
 
-package osi;
+package osi3;
 
 //
 // \brief The conditions of the environment.