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osi_lane.proto
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syntax = "proto2";
option optimize_for = SPEED;
import "osi_common.proto";
package osi3;
//
// \brief A lane in the road network.
//
// A lane is part of a road and mainly characterized by its center line. It also
// knows about any adjacent lanes, antecessor and successor lanes.
// The following images will be referred to by later comments. The lane
// l4 in image HighwayExit is used as reference if not mentioned otherwise.
//
// <table border=0>
// <tr>
// <td>
// \image html OSI_Highway_Exit.svg "" width=550px
// <td>
// \image html OSI_LaneIntersection.svg "" width=550px
// <tr>
// <td>
// \image html OSI_Highway_Exit.jpg "HighwayExit" width=650px
// <td>
// \image html OSI_LaneIntersection.jpg "Intersection" width=650px
// </table>
//
// \note In the examples, the symbols l1, l2, ... and lb1, lb2, ...
// stand for the lane ids and lane boundary ids respectively, i.e. for
// integers (uint64). The symbols cl1, cl2, ... represent the
// osi3::Lane::Classification::centerline elements of the lanes with
// the respective ids.
//
message Lane
{
// The ID of the lane.
// Example: l4 (see reference picture HighwayExit).
//
// \rules
// is_set
// \endrules
//
optional Identifier id = 1;
// The classification of the lane.
//
optional Classification classification = 2;
// Optional external reference to the lane source.
//
// The external reference points to the source of the lane, if it is derived
// from one or more objects or external references.
//
// For example, to reference a lane defined in an OpenDRIVE map
// the items should be set as follows:
// * reference = URI to map, can remain empty if identical with definition
// in \c GroundTruth::map_reference
// * type = "net.asam.opendrive"
// * identifier[0] = id of t_road
// * identifier[1] = s of t_road_lanes_laneSection
// * identifier[2] = id of t_road_lanes_laneSection_left_lane,
// t_road_lanes_laneSection_right_lane
//
// \note For non-ASAM Standards, it is implementation-specific how
// source_reference is resolved.
//
// \note The value has to be repeated, because one lane segment may be
// derived from more than one origin segment. Multiple sources
// may be added as reference as well, for example, a map and sensors.
//
repeated ExternalReference source_reference = 3;
//
// \brief \c Classification of a lane.
//
// <table border = 0>
// <tr>
// <td>
// \anchor HighwayExit
// \image html OSI_LaneClassification.jpg "HighwayExit" width=800px
// </td>
// <td>
// <table border=0>
// <tr>
// <td>
// <b>
// \c Classification for lane l4 in image HighwayExit:
// </b>
// <tr>
// <td>
// \c #type = \c #TYPE_DRIVING
// <tr>
// <td>
// \c #centerline = (cl4_1, cl4_2, cl4_3, cl4_4, cl4_5)
// <tr>
// <td>
// \c #centerline_is_driving_direction = \c true
// <tr>
// <td>
// \c #is_host_vehicle_lane = \c true
// <tr>
// <td>
// \c #left_adjacent_lane_id = l3
// <tr>
// <td>
// \c #right_adjacent_lane_id = (l5,l6)
// <tr>
// <td>
// \c #left_lane_boundary_id = lb5
// <tr>
// <td>
// \c #right_lane_boundary_id = (lb9, lb6)
// </table>
// </td>
// </tr>
// <tr>
// <td>
// \anchor Intersection
// \image html OSI_LaneIntersection.jpg "Intersection" width=800px
// </td>
// <td>
// <table border=0>
// <tr>
// <td>
// <b>
// \c Classification for lane l7 in image Intersection:
// </b>
// </td>
// </tr>
// <tr>
// <td>
// \c #type = \c #TYPE_INTERSECTION
// </td>
// </tr>
// <tr>
// <td>
// \c #is_host_vehicle_lane = \c false
// </td>
// </tr>
// <tr>
// <td>
// \c #free_lane_boundary_id = lb11
// </td>
// </tr>
// <tr>
// <td>
// <border = 0>
// <tr>
// <td>
// \c #lane_pairing = (
// <td>
// (l2,l1), (l2,l3), (l2,l5),
// <tr>
// <td>
// <td>
// (l4,l1), (l4,l3), (l4,l5),
// <tr>
// <td>
// <td>
// (l6,l1), (l6,l3), (l6,l5) )
// </table>
// </td>
// </tr>
// </table>
// </td>
// </tr>
// </table>
//
// \note In the examples, the symbols l1, l2, ... and lb1, lb2, ...
// stand for the lane ids and lane boundary ids respectively, i.e. for
// integers (uint64). The symbols cl1, cl2, ... represent the
// osi3::Lane::Classification::centerline elements of the lanes with
// the respective ids. The symbols cl1_1, cl1_2, ... stand for
// \c #osi3::Vector3d elements.
//
message Classification
{
// The type of the lane.
//
// Example: For l4 in image \ref HighwayExit the \c #type is \c
// #TYPE_DRIVING.
//
optional Type type = 1;
// Indicates that the host vehicle travels on this particular lane.
// The host vehicle may travel on more than one lane at once. This does
// also apply for the \c CandidateLane in the \c DetectedLane .
//
optional bool is_host_vehicle_lane = 2;
// The lane's center line (as a list of segments).
//
// The centerline describes the middle of the lane.
//
// \image html OSI_LaneCenterline.svg "Centerline" width=500px
//
// Example: In image \ref HighwayExit,
// the centerline of lane l4 (black line) is given by
// (cl4_1, cl4_2, cl4_3, cl4_4, cl4_5).
//
// \image html OSI_LaneBoundaries_And_CenterLine.svg "Centerline" width=500px
//
// \note
// cl: center line
// lb: lane boundary
//
// \attention The points describing the center line must be set in the
// same ordering (ascending or descending) as the points describing the
// lane boundaries. Example: If the points are deducted from a map format,
// the order of points is recommended to be in line with the road coordinate
// (e.g. s-coordinate in OpenDRIVE).
//
// \attention The points describing the center line might be set at
// arbitrary distances. When the points are pairwise linearly connected,
// the lateral distance to the real ideal line (as used by the
// simulation environment internally) must not exceed 5cm. As shown in
// the following image:
//
// \image html line_approximation_error.svg "Approximation error"
// Approximation error green line.
//
// \note The center line is the line that a typical vehicle follows more
// or less (depending on the situation, a little more to the left or
// right of the center line). The intended direction of travel on the
// lane is given by the direction defined by the sequence of points
// forming the \c #centerline w.r.t. \c
// #centerline_is_driving_direction.
//
// \note The \c #centerline is defined only for \c #type =
// \c #TYPE_DRIVING and if exactly one or no \c #lane_pairing pair
// exists.
//
// \note Intersections and non-driving lanes do not have a center line.
// A vehicle must calculate this individually and depending on the
// situation.
//
repeated Vector3d centerline = 3;
// Definition of the intended driving direction.
//
// Defined and used for driving lanes.
// \c true means driving direction is according to ascending storage
// order of center line points. \c false means driving direction is
// according to descending storage order of center line points.
//
// Example: \c #centerline_is_driving_direction = \c true for lane l4
// and \c #centerline_is_driving_direction = \c false for lane l2 in
// image \ref HighwayExit .
//
// \note The \c #centerline_is_driving_direction is defined for \c #type
// = \c #TYPE_DRIVING .
//
optional bool centerline_is_driving_direction = 4;
// List of IDs of all lane segments that are directly adjacent to the
// lane on the left side (w.r.t. ascending order of centerline points
// and lane boundary points). Note that lengths of lane segments are
// not synchronized and therefore there are multiple adjacent segments
// if there is a split/merge point in the adjacent lane.
//
// Example: The lane l3 is the only left adjacent lane for lane l4
// in image \ref HighwayExit.
//
// \note The \c #left_adjacent_lane_id is undefined for \c #type =
// \c #TYPE_INTERSECTION .
//
// \note OSI uses singular instead of plural for repeated field names.
//
// \rules
// check_if this.type is_different_to 4 else do_check is_set
// \endrules
//
repeated Identifier left_adjacent_lane_id = 5;
// List of IDs of all lane segments that are directly adjacent to the
// lane on the right side (w.r.t. ascending order of centerline points
// and lane boundary points). Note that lengths of lane segments are
// not synchronized and therefore there are multiple adjacent segments
// if there is a split/merge point in the adjacent lane.
//
// Example: \c #right_adjacent_lane_id = (l5, l6)
// for lane l4 in image \ref HighwayExit.
//
// \note The \c #right_adjacent_lane_id is undefined for \c #type =
// \c #TYPE_INTERSECTION .
//
// \note OSI uses singular instead of plural for repeated field names.
//
// \rules
// check_if this.type is_different_to 4 else do_check is_set
// \endrules
//
repeated Identifier right_adjacent_lane_id = 6;
// The antecessor/successor lane pairings of this lane. There can be
// multiple pairings with the same antecessor and different successor
// lanes and vice versa. The antecessor lanes end in the same point that
// this lane starts from. The successor lanes start in the same point
// that this lane ends in.
//
// Example: See image \ref Intersection.
//
// \note OSI uses singular instead of plural for repeated field names.
//
repeated LanePairing lane_pairing = 7;
// The right adjacent lane boundaries \c #right_lane_boundary_id may
// only be shared with/as the left adjacent lane boundaries \c
// #left_lane_boundary_id of the nearest right adjacent lane \c
// #right_adjacent_lane_id.
//
// Example: \c #right_lane_boundary_id =
// (lb9, lb6) for reference lane l4 in image \ref HighwayExit.
//
// \note Empty for intersections.
//
// \note The \c #right_lane_boundary_id is undefined for \c #type =
// \c #TYPE_INTERSECTION .
//
// \note OSI uses singular instead of plural for repeated field names.
//
// \note The boundary between adjacent lanes at different heights
// (e.g. a curb between a driving lane and a sidewalk)
// should not be shared, but modeled as two separate lane
// boundaries with individual ids. One for the upper, the
// other one for the lower lane.
//
// \rules
// check_if this.type is_different_to 4 else do_check is_set
// \endrules
//
repeated Identifier right_lane_boundary_id = 8;
// The left adjacent lane boundaries \c #left_lane_boundary_id may only
// be shared with/as the right adjacent lane boundaries \c
// #right_lane_boundary_id of the nearest left adjacent lane \c
// #left_adjacent_lane_id.
//
// Example: \c #left_lane_boundary_id = lb5 for lane l4 in image \ref
// HighwayExit.
//
// \note Empty for intersections.
//
// \note The \c #left_lane_boundary_id is undefined for \c #type =
// \c #TYPE_INTERSECTION .
//
// \note OSI uses singular instead of plural for repeated field names.
//
// \note The boundary between adjacent lanes at different heights
// (e.g. a curb between a driving lane and a sidewalk)
// should not be shared, but modeled as two separate lane
// boundaries with individual ids. One for the upper, the
// other one for the lower lane.
//
// \rules
// check_if this.type is_different_to 4 else do_check is_set
// \endrules
//
repeated Identifier left_lane_boundary_id = 9;
// The free boundaries which have no/unknown assignment to left/right.
//
// Example: \c #free_lane_boundary_id = lb11 for lane l7 in image \ref
// Intersection.
//
// \note \c Lane with \c #type = \c #TYPE_INTERSECTION use only free
// lane boundaries.
//
// \note OSI uses singular instead of plural for repeated field names.
//
// \rules
// check_if this.type is_different_to 4 else do_check is_set
// \endrules
//
repeated Identifier free_lane_boundary_id = 10;
// The condition of the lane, e.g. influenced by weather.
//
optional RoadCondition road_condition = 11;
// The subtype of the lane.
//
// This subtype specifies a lane more concretely.
//
optional Subtype subtype = 12;
// Definition of available lane types.
//
enum Type
{
// Lane of unknown type (must not be used in ground truth).
//
TYPE_UNKNOWN = 0;
// Any other type of lane.
//
TYPE_OTHER = 1;
// A normal lane.
// Example: Lanes with IDs l1, l2, l3, l4 and l6 in image \ref
// HighwayExit.
//
TYPE_DRIVING = 2;
// A road where driving is normally not permitted.
// Example: Lane with ID l5 in image \ref HighwayExit.
//
TYPE_NONDRIVING = 3;
// An intersection as a lane.
// Example: Lane with ID l7 in image \ref Intersection.
//
// \image html OSI_X-Junction.svg "" width=600px
//
TYPE_INTERSECTION = 4;
}
// Definition of available lane subtypes, aligned with OpenDRIVE.
//
enum Subtype
{
// Lane of unknown subtype. Do not use in ground truth.
//
SUBTYPE_UNKNOWN = 0;
// Any other subtype of lane.
//
SUBTYPE_OTHER = 1;
// A normal driving lane.
// Example: Lanes with IDs l1, l2, l3 and l4 in image \ref
// HighwayExit.
//
// Since it is intended to be used for normal automotive
// driving, it should be used in combination with TYPE_DRIVING.
//
SUBTYPE_NORMAL = 2;
// A lane that is designated for bicycles.
//
// Since it is not intended to be used for normal automotive
// driving, it should be used in combination with TYPE_NONDRIVING.
//
SUBTYPE_BIKING = 3;
// A lane that is designated for pedestrians (sidewalk).
//
// Since it is not intended to be used for normal automotive
// driving, it should be used in combination with TYPE_NONDRIVING.
//
SUBTYPE_SIDEWALK = 4;
// A lane with parking spaces.
//
// Since it is not intended to be used for normal automotive
// driving, it should be used in combination with TYPE_NONDRIVING.
//
SUBTYPE_PARKING = 5;
// A hard shoulder on motorways for emergency stops.
// Example: Lane l5 in image \ref
// HighwayExit.
//
// Since it is not intended to be used for normal automotive
// driving, it should be used in combination with TYPE_NONDRIVING.
//
SUBTYPE_STOP = 6;
// A lane on which cars should not drive.
//
// Since it is not intended to be used for normal automotive
// driving, it should be used in combination with TYPE_NONDRIVING.
//
SUBTYPE_RESTRICTED = 7;
// A hard border on the edge of a road.
//
// Since it is not intended to be used for normal automotive
// driving, it should be used in combination with TYPE_NONDRIVING.
//
SUBTYPE_BORDER = 8;
// A soft border on the edge of a road.
//
// Since it is not intended to be used for normal automotive
// driving, it should be used in combination with TYPE_NONDRIVING.
//
SUBTYPE_SHOULDER = 9;
// A deceleration lane in parallel to the main road.
// Example: Lane l6 in image \ref
// HighwayExit.
//
// Since it is intended to be used for normal automotive
// driving, it should be used in combination with TYPE_DRIVING.
//
SUBTYPE_EXIT = 10;
// An acceleration lane in parallel to the main road.
//
// Since it is intended to be used for normal automotive
// driving, it should be used in combination with TYPE_DRIVING.
//
SUBTYPE_ENTRY = 11;
// A ramp from rural or urban roads joining a motorway.
//
// Since it is intended to be used for normal automotive
// driving, it should be used in combination with TYPE_DRIVING.
//
SUBTYPE_ONRAMP = 12;
// A ramp leading off a motorway onto rural or urban roads.
//
// Since it is intended to be used for normal automotive
// driving, it should be used in combination with TYPE_DRIVING.
//
SUBTYPE_OFFRAMP = 13;
// A ramp that connect two motorways.
//
// Since it is intended to be used for normal automotive
// driving, it should be used in combination with TYPE_DRIVING.
//
SUBTYPE_CONNECTINGRAMP = 14;
}
//
// \brief The condition of the road surface.
//
message RoadCondition
{
// The temperature of the roads surface in Kelvin.
//
// Unit: K
//
// \rules
// is_greater_than_or_equal_to: 0
// \endrules
//
optional double surface_temperature = 1;
// The height of the water film on top of the surface in mm.
//
// Unit: mm
//
// \rules
// is_greater_than_or_equal_to: 0
// \endrules
//
optional double surface_water_film = 2;
// The temperature where the water on top of the surface would start
// to freeze or dew in Kelvin.
//
// Unit: K
//
// \rules
// is_greater_than_or_equal_to: 0
// \endrules
//
optional double surface_freezing_point = 3;
// The percentage of ice covering the road.
//
// Unit: %
//
// \rules
// is_greater_than_or_equal_to: 0
// \endrules
//
optional double surface_ice = 4;
// The coefficient representing the roughness or unevenness of the
// road. International Roughness Index (IRI) [1] values range from 0
// = smooth ground (equivalent to driving on a plate of glass) up to
// >
// 20 mm/m (a very rough road).
//
// Estimated value ranges (IRI):
// 0.0 mm/m absolutely perfect evenness
// 0.3 - 1.8 mm/m airport runways and superhighways
// 1.4 - 3.4 mm/m new pavements
// 2.2 - 5.7 mm/m older pavements
// 3.2 - 9.8 mm/m maintained unpaved roads
// 4.0 - 11.0 mm/m damaged pavements
// 8.0 - >
// 20 mm/m rough unpaved roads
//
// Speed of normal use (IRI):
// 30 km/h - 20 mm/m
// 50 km/h - 14.5 mm/m
// 60 km/h - 10.0 mm/m
// 80 km/h - 8.5 mm/m
// 100 km/h - 3.4 mm/m
//
// Road conditions (IRI);
// 15 mm/m erosion gulleys and deep depressions
// 11 mm/m frequent shallow depressions, some deep
// 9 mm/m frequent minor depressions
// 5 mm/m surface imperfections
//
// Unit: mm/m
//
// \par Reference:
// [1] Sayers, M. W. & Karamihas, S. M. (1998). <em>Little Book of Profiling</em>. University of Michigan Transportation Research Institute. Retrieved January 25, 2020, from http://www.umtri.umich.edu/content/LittleBook98R.pdf pp. 45 ff.
//
// \rules
// is_greater_than_or_equal_to: 0
// \endrules
//
optional double surface_roughness = 5;
// The surface texture or fine roughness
//
// Whereas the IRI-based roughness or unevenness measure only takes
// into account road wavelengths around 0.5 m - 100 m, the surface
// texture or fine roughness [1] measures only wavelengths below
// 0.5 m. It is given as the standard height deviation of fine
// roughness
//
// Unit: m
//
// \par Reference:
// [1] Schneider, R. (1998). <em>Modellierung der Wellenausbreitung fuer ein bildgebendes Kfz-Radar</em>. PhD thesis. Karlsruhe, Germany. Universitaet Karlsruhe, Fak. f. Elektrotechnik.
//
optional double surface_texture = 6;
}
// \brief The lane ID pairings of antecessor and successor lanes.
//
// <table border = 0>
// <tr>
// <td>
// \image html OSI_LaneIntersection.svg "" width=600px
// </td>
// <td>
// <table border=0>
// <tr>
// <td>
// <b>
// \c LanePairing for lane l7:
// </b>
// </td>
// </tr>
// <tr>
// <td>
// <table border = 0>
// <tr>
// <td>
// (l2,l1), (l2,l3), (l2,l5),
// <tr>
// <td>
// (l4,l1), (l4,l3), (l4,l5),
// <tr>
// <td>
// (l6,l1), (l6,l3), (l6,l5)
// </table>
// </td>
// </tr>
// </table>
// </td>
// </tr>
// </table>
//
// \note In the example, the symbols l1, l2, ... stand for the
// respective lane ids, i.e. for integers (uint64). The symbols cl1,
// cl2, ... represent the osi3::Lane::Classification::centerline
// elements of the lanes with the respective ids.
//
message LanePairing
{
// The antecessor lane ID.
//
// \rules
// refers_to: Lane
// \endrules
//
optional Identifier antecessor_lane_id = 1;
// The successor lane ID.
//
// \rules
// refers_to: Lane
// \endrules
//
optional Identifier successor_lane_id = 2;
}
}
}
//
// \brief A lane boundary defining the border of a lane.
//
// The left and right lane boundary define the width of the lane. Additionally,
// free markings can be defined, e.g. at construction sites. Free markings
// across multiple lanes may be defined multiple times for all affected lanes.
//
// \image html OSI_LaneBoundary.svg "LaneBoundary" width=800px
//
// \note In the example, the symbols l1, l2, ... and lb1, lb2, ...
// stand for the lane ids and lane boundary ids respectively, i.e. for
// integers (uint64). The symbols bp2_{i+1}, bp2_{i}, bp2_{i-1} stand
// for \c #osi3::LaneBoundary::BoundaryPoint elements.
//
message LaneBoundary
{
// The ID of the lane boundary.
//
// \rules
// \endrules
//
optional Identifier id = 1;
// 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.
//
// \image html OSI_LaneBoundary.svg "" width=800px
//
// Example: The boundary_line of the \c LaneBoundary with id lb2 is given by
// (bp2_1, ..., bp2_{i-1}, bp2_{i}, bp2_{i+1}, ...).
//
// \attention The ordering of the points must be the same for all lane boundaries
// on one road (also for roads with two-way traffic) and also the center line(s).
// Example: If the points are deducted from a map format, the order of points
// is recommended to be in line with the road coordinate (e.g. s-coordinate in
// OpenDRIVE).
// \note For dashed lines, one \c BoundaryPoint has to be at the start and
// another at the end of each dashed line segment. The first
// \c BoundaryPoint defines the beginning of the first dashed lane marking.
// The last \c BoundaryPoint defines the end of the last dashed lane
// marking.
// \note For Botts' dots lines, one \c BoundaryPoint position has to define
// each Botts' dot.
//
// \attention For \c BoundaryPoint the same rule for the approximation
// error applies as for \c Lane::Classification::centerline.
//
// \rules
// first_element width is_equal_to 0.13
// first_element height is_equal_to 0.14
// last_element width is_equal_to 0.13
// last_element height is_equal_to 0.13
// \endrules
//
repeated BoundaryPoint boundary_line = 2;
// The classification of the lane boundary.
//
optional Classification classification = 3;
// Optional external reference to the lane boundary source.
//
// \note For OpenDRIVE, there is no direct possibility to reference the
// RoadMark, as there is no unique identifier in this sub-object.
//
// \note For non-ASAM Standards, it is implementation-specific how
// source_reference is resolved.
//
// \note The value has to be repeated because one object may be derived
// from more than one origin source, for example, from a scenario file
// and from sensors.
//
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.
//
// \image html OSI_LaneBoundaries_And_CenterLine.svg "" width=800px
//
// \note
// cl: center line
// lb: lane boundary
//
// \image html OSI_LaneBoundary.svg "" width=800px
//
// The lane boundary point bp2_{i} is one of the points of lane boundary
// lb2.
//
// \note In the example, the symbols l1, l2, ... and lb1, lb2, ...
// stand for the lane ids and lane boundary ids respectively, i.e. for
// integers (uint64). The symbols bp2_{i+1}, bp2_{i}, bp2_{i-1} stand
// for \c #osi3::LaneBoundary::BoundaryPoint elements.
//
message BoundaryPoint
{
// The position of the \c BoundaryPoint.
//
optional Vector3d position = 1;
// The overall width of the lane boundary at the position of the
// \c BoundaryPoint .
// Used for lines forming lane markings.
//
// \image html OSI_LaneBoundaryWidth.svg "" width=600px
//
// \note Field need not be set if it is defined previous.
// See \c LaneBoundary.
//
optional double width = 2;
// The overall height of the lane boundary at the position of the
// \c BoundaryPoint .
// Used for guard rails, curbstone, or similar.
//
// \image html OSI_LaneBoundaryHeight.svg "" width=600px
//
// \note Field need not be set if it is previously defined.
//
// \note The boundary point height should not be used to model the boundary
// between two adjacent lanes at different heights as a single, shared
// boundary.
// Boundaries between adjacent lanes at different heights should be
// modeled as two separate lane boundaries.
//
// See \c LaneBoundary .
//
optional double height = 3;
// Alternation of dashes in case of a dashed lane boundary. In
// context, this field gives information about the location of
// dashes on the boundary line.
//
optional Dash dash = 4;
// This enum describes the alternation of dashes in case of a
// dashed lane boundary.
//
// \note The enum descriptions adhere to the definition direction
// of the lane boundary points. This means that start or end of a
// dash are understood with respect to the direction in which the
// points of the boundary line are defined.
//
enum Dash
{
// The current state of the dash alternation is not known (must
// not be used in ground truth).
//
DASH_UNKNOWN = 0;
// Other (unspecified but known) type of dash alternation state.
//
DASH_OTHER = 1;
// The current \c BoundaryPoint indicates the start of a dash.
//
DASH_START = 2;
// The current \c BoundaryPoint is located on a dash of a dashed
// line. This enables a dash to continue across multiple points.
//
DASH_CONTINUE = 3;
// The current \c BoundaryPoint indicates the end of a dash.
//
DASH_END = 4;
// The current \c BoundaryPoint is located in the gap between
// two dashes. When used to describe a first/last point of a lane
// boundary, it indicates that the lane boundary starts/ends in
// a gap.
//
DASH_GAP = 5;
}
}
//
// \brief \c Classification of a lane boundary.
//
// <table border = 0>
// <tr>
// <td>
// <table border=0>
// <tr>
// <td>
// <b>
// Image Intersection
// </b>
// <tr>
// <td>
// <tr>
// <td>
// \c Classification for lane boundaries lb2 and lb9:
// </td>
// </tr>
// <tr>
// <td>
// <table border = 0>
// <tr>
// <td>
// \c #type = #TYPE_DASHED_LINE
// <tr>
// <td>
// \c #color = #COLOR_WHITE
// <tr>
// </table>
// </td>
// </tr>
// <tr>
// <td>
// \c Classification for lane boundaries lb1, lb3, lb4, lb7, lb8, lb10,
// lb11, lb12 and lb14:
// </td>
// </tr>
// <tr>
// <td>
// <table border = 0>
// <tr>
// <td>
// \c #type = #TYPE_SOLID_LINE
// <tr>
// <td>
// \c #color = #COLOR_WHITE
// <tr>
// </table>
// </td>
// </tr>
// <tr>
// <td>
// \c Classification for lane boundaries lb5, lb6 and lb13:
// </td>
// </tr>
// <tr>
// <td>
// <table border = 0>
// <tr>
// <td>
// \c #type = #TYPE_CURB
// </table>
// </td>
// </tr>
// </table>
// </td>
// <td>
// <table border=0>
// <tr>
// <td>
// \image html OSI_LaneIntersection.svg "" width=500px
// </td>
// <tr>
// <td>
// \image html OSI_LaneBoundaryClassification.jpg "" width=600px
// </td>
// </table>
// </td>
// </tr>
// </table>
//
// \note In the example, the symbols l1, l2, ... and lb1, lb2, ...
// stand for the lane ids and lane boundary ids respectively, i.e. for
// integers (uint64). The symbols cl1, cl2, ... represent the
// osi3::Lane::Classification::centerline elements of the lanes with
// the respective ids.
//
message Classification
{
// The lane boundary type.
// There is no special representation for double lines, e.g. solid /
// solid or dashed / solid. In such cases, each lane will define its own
// side of the lane boundary.
//
enum Type
{
// The type of lane boundary is unknown. Value must not be used in
// ground truth.
//
TYPE_UNKNOWN = 0;
// Unspecified but known type of lane boundary.
// Consider proposing an additional type if using TYPE_OTHER.
//
TYPE_OTHER = 1;
// An invisible lane boundary.
//
TYPE_NO_LINE = 2;
// A solid line at the lane boundary.
//
TYPE_SOLID_LINE = 3;
// A dashed line at the lane boundary.
//
TYPE_DASHED_LINE = 4;