.. _program_listing_file_osi-documentation_osi-validation_open-simulation-interface_osi_detectedlane.proto:

Program Listing for File osi_detectedlane.proto
===============================================

|exhale_lsh| :ref:`Return to documentation for file <file_osi-documentation_osi-validation_open-simulation-interface_osi_detectedlane.proto>` (``osi-documentation/osi-validation/open-simulation-interface/osi_detectedlane.proto``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   syntax = "proto2";
   
   option optimize_for = SPEED;
   
   import "osi_lane.proto";
   import "osi_detectedobject.proto";
   
   package osi3;
   
   //
   // \brief A lane segment as detected by the sensor.
   //
   message DetectedLane
   {
       // Common information of one detected item.
       //
       optional DetectedItemHeader header = 1;
   
       // 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 = 2;
   
       //
       // \brief A candidate for a detected lane as estimated by the
       // sensor.
       //
       message CandidateLane
       {
           // The estimated probability that this candidate is the true value.
           //
           // \note The sum of all \c #probability must be one. This probability is
           // given under the condition of
           // \c DetectedItemHeader::existence_probability.
           //
           // Range: [0,1]
           //
           optional double probability = 1;
   
           // The classification 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.Classification classification = 2;
       }
   }
   
   //
   // \brief A lane boundary segment as detected by the sensor.
   //
   // \image html OSI_DetectedLaneBoundary.svg
   //
   message DetectedLaneBoundary
   {
       // Common information of one detected item.
       //
       optional DetectedItemHeader header = 1;
   
       // A list of candidates for this lane boundary as estimated by the
       // sensor.
       //
       // \note OSI uses singular instead of plural for repeated field names.
       //
       repeated CandidateLaneBoundary candidate = 2;
   
       // The list of individual points defining the location of the lane boundary
       // (as a list of segments).
       //
       // Since a \c BoundaryPoint is part of a sequence, only the position
       // attribute has to be set for each instance. All other values will be
       // reused from the previous \c BoundaryPoint in the sequence or set to
       // default values if there is none or it was never set. For dashed lines,
       // one \c LaneBoundary::BoundaryPoint has to be at the start and another at
       // the end of each dashed line segment. For Botts' dots lines, one \c
       // LaneBoundary::BoundaryPoint position has to define each Botts' dot.
       //
       // \attention For \c LaneBoundary::BoundaryPoint the same rules regarding
       // maximum distance and approximation error apply as for \c
       // Lane::Classification::centerline.
       //
       repeated LaneBoundary.BoundaryPoint boundary_line = 3;
   
       // The root mean squared error of the \c LaneBoundary::BoundaryPoint.
       // Each \c #candidate has the same \c #boundary_line points and exact
       // one \c #boundary_line_rmse rmse confidence value is
       // specified which is suitable for all candidates.
       //
       repeated LaneBoundary.BoundaryPoint boundary_line_rmse = 4;
   
       // Confidence of the segments of the \c LaneBoundary::BoundaryPoint.
       // Each \c #candidate has the same \c #boundary_line points and exact
       // one \c #boundary_line_confidences confidence value is
       // specified which is suitable for all candidates.
       //
       // Range: [0,1]
       //
       repeated double boundary_line_confidences = 5;
   
       //
       // \brief A candidate for a detected lane boundary as estimated by the
       // sensor.
       //
       message CandidateLaneBoundary
       {
           // The estimated probability that this candidate is the true value.
           //
           // \note The sum of all \c #probability must be one. This probability is
           // given under the condition of
           // \c DetectedItemHeader::existence_probability.
           //
           // Range: [0,1]
           //
           optional double probability = 1;
   
           // The classification of one lane boundary that defines this candidate.
           //
           // \note IDs, which are referenced in this message, usually
           // reference to \c DetectedXXX::tracking_id IDs.
           //
           optional LaneBoundary.Classification classification = 2;
       }
   }