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

Program Listing for File osi_detectedroadmarking.proto
======================================================

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

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

.. code-block:: cpp

   syntax = "proto2";
   
   option optimize_for = SPEED;
   
   import "osi_common.proto";
   import "osi_roadmarking.proto";
   import "osi_detectedobject.proto";
   
   package osi3;
   
   //
   // \brief A road marking in the environment as detected by the sensor.
   //
   // \image html OSI_DetectedRoadMarking.svg
   //
   // The figure shows two STOP road markings (\c
   // DetectedRoadMarking::CandidateRoadMarking::classification). STOP \c
   // RoadMarking::Classification::type == \c
   // RoadMarking::Classification::TYPE_TEXTUAL_TRAFFIC_SIGN is marked, STOP \c
   // RoadMarking::Classification::type == \c
   // RoadMarking::Classification::TYPE_SYMBOLIC_TRAFFIC_SIGN is not marked.
   //
   message DetectedRoadMarking
   {
       // Common information of one detected item.
       //
       optional DetectedItemHeader header = 1;
   
       // The base parameters of the road marking.
       //
       // The orientation of the bounding box \c #base
       // \c BaseStationary::orientation is defined as follows:
       // The z-axis of the \c BaseStationary::orientation is the vector from the
       // 'bottom' to the 'top' of the road marking's (i.e. painted traffic sign)
       // 2D image area.
       // (Normally it is in the ground truth xy-plain.)
       // The x-axis of the \c BaseStationary::orientation is the view normal of
       // the road marking's 2D image area.
       // Normally this x-axis points to the sky.
       //
       // \note If a valid unidirectional road marking is assigned to the host
       // vehicle's current lane and the driving direction of the latter roughly
       // matches the z-axis of the \c #base \c BaseStationary::orientation then
       // the road marking is of relevance to (i.e. in effect for) the host
       // vehicle.
       //
       optional BaseStationary base = 2;
   
       // The root mean squared error of the base parameters of the detected
       // road marking. \c RoadMarking::base has to be identical for
       // all \c #candidate road markings.
       //
       optional BaseStationary base_rmse = 3;
   
       // A list of candidates for this road marking as estimated by the
       // sensor.
       //
       // \note OSI uses singular instead of plural for repeated field names.
       //
       repeated CandidateRoadMarking candidate = 4;
   
       //
       // \brief A candidate for a detected road marking as estimated by the
       // sensor.
       //
       message CandidateRoadMarking
       {
           // 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 the road marking.
           //
           // \note IDs, which are referenced in this message, usually
           // reference to \c DetectedXXX::tracking_id IDs.
           //
           optional RoadMarking.Classification classification = 2;
       }
   }