Introducing new color models

osi_common.proto

@@ -551,6 +551,7 @@ message StatePoint
     //
     optional Orientation3d orientation = 3;
 }
+
 //
 // \brief Detailed WavelengthRange message.
 //
@@ -611,3 +612,195 @@ message SpatialSignalStrength
     //
     optional double signal_strength = 3;
 }
+
+//
+// \brief The description of a color within available color spaces.
+//
+// ColorDescription represents the visual, non-semantic appearance of an object, structure or feature within various available color spaces.
+//
+// Depending on the context, this may define the color of an object or structure a priori (e.g. GroundTruth objects)
+// or describe a perceived color (e.g. CameraDetections).
+//
+message ColorDescription
+{
+    // Greyscale color model
+    //
+    optional ColorGrey grey = 1;
+
+    // RGB (Red, Green, Blue) color model
+    //
+    optional ColorRGB rgb = 2;
+
+    // RGBIR (Red, Green, Blue, Infrared) color model
+    //
+    optional ColorRGBIR rgbir = 3;
+
+    // HSV (Hue, Saturation, Value) color model
+    //
+    optional ColorHSV hsv = 4;
+
+    // LUV (Luminance, U-coordinate, V-coordinate) color model
+    //
+    optional ColorLUV luv = 5;
+
+    // CMYK (Cyan, Magenta, Yellow, Key) color model
+    //
+    optional ColorCMYK cmyk = 6;
+}
+
+//
+// \brief Greyscale color model
+//
+// ColorGrey defines a greyscale.
+//
+message ColorGrey
+{
+    // Definition of a greyscale
+    //
+    // Range: [0,1]
+    //
+    optional double grey = 1;
+}
+
+//
+// \brief RGB color model
+//
+// ColorRGB provides values for red, green and blue.
+//
+message ColorRGB
+{
+    // Red ratio
+    //
+    // Range: [0,1]
+    //
+    optional double red = 1;
+
+    // Green ratio
+    //
+    // Range: [0,1]
+    //
+    optional double green = 2;
+
+    // Blue ratio
+    //
+    // Range: [0,1]
+    //
+    optional double blue = 3;
+}
+
+//
+// \brief RGBIR color model
+//
+// ColorRGBIR provides values for red, green, blue and infrared.
+//
+message ColorRGBIR
+{
+    // Red ratio
+    //
+    // Range: [0,1]
+    //
+    optional double red = 1;
+
+    // Green ratio
+    //
+    // Range: [0,1]
+    //
+    optional double green = 2;
+
+    // Blue ratio
+    //
+    // Range: [0,1]
+    //
+    optional double blue = 3;
+
+    // Infrared
+    //
+    // Range: [0,1]
+    //
+    optional double infrared = 4;
+}
+
+//
+// \brief HSV color model
+//
+// ColorHSV provides values for hue, saturation and value/brightness.
+//
+message ColorHSV
+{
+    // Hue
+    //
+    // Unit: deg
+    // Range: [0,360[
+    //
+    optional double hue = 1;
+
+    // Saturation
+    //
+    // Range: [0,1]
+    //
+    optional double saturation = 2;
+
+    // Value
+    //
+    // Range: [0,1]
+    //
+    optional double value = 3;
+}
+
+//
+// \brief LUV color model
+//
+// ColorLUV provides values for luminance, U- and V-coordinate.
+//
+message ColorLUV
+{
+    // Luminance
+    //
+    // Range: [0,1]
+    //
+    optional double luminance = 1;
+
+    // U-coordinate
+    //
+    // Range: [0,1]
+    //
+    optional double u = 2;
+
+    // V-Coordinate
+    //
+    // Range: [0,1]
+    //
+    optional double v = 3;
+}
+
+//
+// \brief CMYK colors model
+//
+// ColorCMYK provides values for cyan, magenta, yellow and key/black.
+//
+message ColorCMYK
+{
+    // Cyan ratio
+    //
+    // Range: [0,1]
+    //
+    optional double cyan = 1;
+
+    // Magenta ratio
+    //
+    // Range: [0,1]
+    //
+    optional double magenta = 2;
+
+    // Yellow ratio
+    //
+    // Range: [0,1]
+    //
+    optional double yellow = 3;
+
+    // Black ratio
+    //
+    // Range: [0,1]
+    //
+    optional double key = 4;
+}

osi_detectedlane.proto

@@ -4,6 +4,7 @@ option optimize_for = SPEED;
 
 import "osi_lane.proto";
 import "osi_detectedobject.proto";
+import "osi_common.proto";
 
 package osi3;
 
@@ -104,6 +105,14 @@ message DetectedLaneBoundary
     //
     repeated double boundary_line_confidences = 5;
 
+    // The visual color of the material of the lane boundary.
+    //
+    // \note This does not represent the semantic classification but the visual
+    // appearance. For semantic classification of the lane boundary use the color
+    // field in \c CandidateLaneBoundary::classification.
+    //
+    optional ColorDescription color_description = 6;
+
     //
     // \brief A candidate for a detected lane boundary as estimated by the
     // sensor.

osi_detectedobject.proto

@@ -120,6 +120,10 @@ message DetectedStationaryObject
     //
     repeated CandidateStationaryObject candidate = 4;
 
+    // The dominating color of the material of the structure.
+    //
+    optional ColorDescription color_description = 5;
+
     //
     // \brief A candidate for a detected stationary object as estimated
     // by the sensor.
@@ -221,6 +225,10 @@ message DetectedMovingObject
     //
     repeated CandidateMovingObject candidate = 8;
 
+    // The dominating color of the material of the moving object.
+    //
+    optional ColorDescription color_description = 9;
+
     // Additional data that is specific to radar sensors.
     //
     // \note Field needs not to be set if simulated sensor is not a radar

osi_detectedroadmarking.proto

@@ -59,6 +59,14 @@ message DetectedRoadMarking
     //
     repeated CandidateRoadMarking candidate = 4;
 
+    // The visual color of the material of the road marking.
+    //
+    // \note This does not represent the semantic classification but the visual
+    // appearance. For semantic classification of the road marking use the color
+    // field in \c CandidateRoadMarking::classification.
+    //
+    optional ColorDescription color_description = 5;
+
     //
     // \brief A candidate for a detected road marking as estimated by the
     // sensor.

osi_detectedtrafficlight.proto

@@ -43,6 +43,14 @@ message DetectedTrafficLight
     //
     repeated CandidateTrafficLight candidate = 4;
 
+    // The visual color of the traffic light.
+    //
+    // \note This does not represent the semantic classification but the visual
+    // appearance.  For semantic classification of the traffic light use the color
+    // field in \c CandidateTrafficLight::classification.
+    //
+    optional ColorDescription color_description = 5;
+
     //
     // \brief A candidate for a detected traffic light as estimated by
     // the sensor.

osi_featuredata.proto

@@ -853,6 +853,10 @@ message CameraDetection
 
     // The dominant color of the shape.
     //
+    // \attention DEPRECATED: This color enum will be removed in version
+    // 4.0.0. Use the field \c #color_description (\c ColorDescription)
+    // instead.
+    //
     optional Color color = 28;
 
     // The probability of the shape's color.
@@ -885,8 +889,16 @@ message CameraDetection
     //
     optional uint32 number_of_points = 32;
 
+    //
+    // The dominant color of the shape.
+    //
+    optional ColorDescription color_description = 33;
+
     // Definition of shape dominant color.
     //
+    // \attention DEPRECATED: This color enum will be removed in version
+    // 4.0.0. Use \c ColorDescription instead.
+    //
     enum Color
     {
         // Color of the shape is unknown (must not be used in ground

osi_lane.proto

@@ -763,6 +763,14 @@ message LaneBoundary
     //
     repeated ExternalReference source_reference = 4;
 
+    // The visual color of the material of the lane boundary.
+    //
+    // \note This does not represent the semantic classification but the visual
+    // appearance. For semantic classification of the lane boundary use the color
+    // field in \c Classification.
+    //
+    optional ColorDescription color_description = 5;
+
     //
     // \brief A single point of a lane boundary.
     //
@@ -905,7 +913,10 @@ message LaneBoundary
         //
         optional Type type = 1;
 
-        // The color of the lane boundary in case of lane markings.
+        // The semantic color of the lane boundary in case of lane markings.
+        //
+        // \note The color types represent the semantic classification of
+        // lane markings only. They do not represent an actual visual appearance.
         //
         optional Color color = 2;
 
@@ -987,10 +998,13 @@ message LaneBoundary
             TYPE_STRUCTURE = 13;
         }
 
-        // The color of the lane boundary in case of a lane markings.
+        // The semantic color of the lane boundary in case of a lane markings.
         // Lane markings that alternate in color must be represented by
         // individual \c LaneBoundary segments.
         //
+        // \note The color types represent the semantic color classification of
+        // lane markings only. They do not represent an actual visual appearance.
+        //
         enum Color
         {
             // Color of marking is unknown. Value must not be used in ground