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

Program Listing for File osi_groundtruth.proto
==============================================

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

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

.. code-block:: cpp

   syntax = "proto2";
   
   option optimize_for = SPEED;
   
   import "osi_version.proto";
   import "osi_common.proto";
   import "osi_environment.proto";
   import "osi_trafficsign.proto";
   import "osi_trafficlight.proto";
   import "osi_roadmarking.proto";
   import "osi_lane.proto";
   import "osi_object.proto";
   import "osi_occupant.proto";
   
   package osi3;
   
   //
   // \brief The ground truth information from the simulation environment.
   //
   // This ground truth information is supposed to describe the whole simulated
   // environment around any simulated vehicle. For each simulated host vehicle
   // (there may be one or multiple), define an area around the vehicle which
   // is greater than the combined field of views (FOV) of all obstructed sensors
   // in the vehicle. The ground truth data is supposed to describe the convex
   // hull of all such areas w.r.t. a global simulation coordinate system.
   //
   // The simulation coordinate system may change during the simulation if and
   // only if all coordinates w.r.t. this coordinate system are also changed.
   //
   // The data has to be sent at a rate defined by the receiving partner. When
   // sending, values with default values might be left default in order to improve
   // performance.
   //
   // To provide a complete interface, all fields of all contained messages must be
   // properly set unless specifically stated in the field's definition that the
   // field may remain unset.
   //
   // In enums (e.g. types) the unknown (first / default) value is not allowed to
   // be used in the ground truth interface.
   //
   // \image html OSI_GroundTruth.svg "Ground Truth"
   //
   message GroundTruth
   {
       // The interface version used by the sender (i.e. the simulation
       // environment).
       //
       optional InterfaceVersion version = 1;
   
       // The data timestamp of the simulation environment. The zero time point is
       // arbitrary but must be identical for all messages.
       // Recommendation: Zero time point for start point of the simulation.
       //
       // \note Zero time point does not need to coincide with the UNIX epoch.
       //
       // \note For ground truth data this timestamp coincides both with the
       // notional simulation time the data applies to and the time it was sent
       // (there is no inherent latency for ground truth data, as opposed to
       // sensor data).
       //
       optional Timestamp timestamp = 2;
   
       // The ID of the host vehicle object referencing to \c MovingObject .
       //
       // \note This ID has to be filled and is not optional!
       //
       optional Identifier host_vehicle_id = 3;
   
       // The list of stationary objects (excluding traffic signs and traffic
       // lights).
       //
       // \note OSI uses singular instead of plural for repeated field names.
       //
       repeated StationaryObject stationary_object = 4;
   
       // The list of all other moving objects including all (host) vehicles.
       //
       // \note OSI uses singular instead of plural for repeated field names.
       //
       repeated MovingObject moving_object = 5;
   
       // The list of traffic signs.
       //
       // \note OSI uses singular instead of plural for repeated field names.
       //
       repeated TrafficSign traffic_sign = 6;
   
       // The list of traffic lights.
       //
       // \note OSI uses singular instead of plural for repeated field names.
       //
       repeated TrafficLight traffic_light = 7;
   
       // The list of road surface markings (lane markings are excluded and
       // defined as \c LaneBoundary).
       //
       // \note OSI uses singular instead of plural for repeated field names.
       //
       repeated RoadMarking road_marking = 8;
   
       // The list of lane boundaries.
       //
       // \note OSI uses singular instead of plural for repeated field names.
       //
       repeated LaneBoundary lane_boundary = 9;
   
       // The list of lanes forming a road network.
       //
       // \note OSI uses singular instead of plural for repeated field names.
       //
       repeated Lane lane = 10;
   
       // The list of passengers in the (host) vehicle(s).
       //
       // \note OSI uses singular instead of plural for repeated field names.
       //
       repeated Occupant occupant = 11;
   
       // Conditions of the environment.
       //
       optional EnvironmentalConditions environmental_conditions = 12;
   
       // The ISO country code in 3 digit numeric format according to:
       // ISO Code 3166/1 [1,2].
       // E.g. Germany = 276, USA = 840.
       //
       // Unit: []
       //
       // \par References:
       // - [1] [International Standard ISO 3166-1: Codes for the representation of
       // names of countries and their subdivisions - Part 1: Country codes, third
       // ed., 2013] (https://www.iso.org/obp/ui/)
       // - [2] [Wikipedia ISO 3166/1] (https://en.wikipedia.org/wiki/ISO_3166-1)
       //
       optional uint32 country_code = 13;
   
       // Projection string that allows to transform all coordinates in GroundTruth
       // into a different cartographic projection.
       //
       // The string follows the PROJ.4 project rules for projections [1].
       //
       // \par References:
       // - [1] [Proj.4 Projections] (https://proj4.org/usage/projections.html)
       //
       optional string proj_string = 14;
   
       // Opaque reference of a map.
       //
       // \note Origin and orientation of the map have to coincide with the
       // inertial coordinate frame of the ground truth.
       //
       // \note It is implementation-specific how map_reference is resolved.
       //
       optional string map_reference = 15;
   }