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osi_trafficsign.proto
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osi_trafficsign.proto
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syntax = "proto2";
option optimize_for = SPEED;
import "osi_common.proto";
package osi3;
//
// \brief Additional value associated with a traffic sign or road marking,
// its unit and its text. The interpretation of this text is left to a
// user-defined procedure
//
message TrafficSignValue
{
// Additional value associated with a traffic sign or road marking,
// e.g. value of a speed limit.
//
optional double value = 1;
// Unit for additional value.
//
optional Unit value_unit = 2;
// Unit for values on traffic sign.
//
enum Unit
{
// Unit of the sign's value is unknown (must not be used in ground
// truth).
//
UNIT_UNKNOWN = 0;
// Other (unspecified but known) unit of the sign's value.
//
UNIT_OTHER = 1;
// Value without unit.
//
UNIT_NO_UNIT = 2;
// Velocity.
// Kilometers per hour.
//
// Unit: km/h
//
UNIT_KILOMETER_PER_HOUR = 3;
// Velocity.
// Miles per hour.
//
// Unit: mph
//
UNIT_MILE_PER_HOUR = 4;
// Length.
// Meter.
//
// Unit: m
//
UNIT_METER = 5;
// Length.
// Kilometer.
//
// Unit: km
//
UNIT_KILOMETER = 6;
// Length.
// Feet.
//
// Unit: ft
//
UNIT_FEET = 7;
// Length.
// Mile.
//
// Unit: mile
//
UNIT_MILE = 8;
// Weight.
// Ton.
//
// Unit: t
//
UNIT_METRIC_TON = 9;
// Weight.
// Long ton UK 1,016.047 kg.
//
// Unit: tn. l.
//
UNIT_LONG_TON = 10;
// Weight.
// Short ton USA 907.1847 kg.
//
// Unit: tn. sh.
//
UNIT_SHORT_TON = 11;
// Time of day.
// Hours since midnight. Starting with 0.
//
// Unit: h
//
UNIT_HOUR = 15;
// Time of day.
// Minutes since last hour. Starting with 0.
//
// Unit: min
//
UNIT_MINUTES = 12;
// Day of the month.
// Starting with 1.
//
UNIT_DAY_OF_MONTH = 16;
// Day of the week.
// Days since Monday. Monday = 0; Tuesday = 1; ...
//
// \note For consistency this field will be renamed to UNIT_DAY_OF_WEEK in v4.0.0 .
//
UNIT_DAY = 13;
// Percentage.
// Value.
//
// Unit: %
//
UNIT_PERCENTAGE = 14;
// Duration in days.
//
// Unit: day
//
UNIT_DURATION_DAY = 17;
// Duration in hours.
//
// Unit: h
//
UNIT_DURATION_HOUR = 18;
// Duration in minutes.
//
// Unit: min
//
UNIT_DURATION_MINUTE = 19;
}
// Text associated with a sign, e.g. the name of a location whose distance
// to the sign is indicated therein. The interpretation of this text is
// left to a user-defined procedure.
//
optional string text = 3;
}
//
// \brief A traffic sign.
//
// All coordinates and orientations are relative to the global ground truth
// coordinate system.
//
message TrafficSign
{
// The ID of the traffic sign.
//
// \rules
// is_globally_unique
// is_set
// \endrules
//
optional Identifier id = 1;
// Main sign, e.g. speed limit 30 km/h
//
optional MainSign main_sign = 2;
// Additional supplementary signs, e.g. time limits, modifying the traffic
// sign.
//
repeated SupplementarySign supplementary_sign = 3;
// Optional external reference to the traffic sign source.
//
// The external reference point to the source of the traffic sign, if it is
// derived from one or more objects or external references.
//
// For example, to reference a signal 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_signals_signal
//
// \note For non-ASAM Standards, it is implementation-specific how
// source_reference is resolved.
//
// \note If an individual identification of MainSign and SupplementarySign
// is necessary, this should be done via multiple individual
// entries of this source_reference.
//
// \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 = 4;
//
// \brief Main sign of the traffic sign.
//
// \image html OSI_MainSign.svg
//
message MainSign
{
// The base parameters of the traffic sign.
//
// The orientation of the bounding box \c #base
// ( \c BaseStationary::orientation ) is defined as follows:
// The z-axis of the given \c BaseStationary::orientation is the vector
// from the bottom to the top of the traffic sign's 2D image plate.
// (Normally it is equal to the ground truth z-axis.)
// The x-axis of the given \c BaseStationary::orientation is view
// normal of the traffic sign's image.
// This x-axis points from the traffic sign's image in the direction
// from where a 'viewer' could see the traffic sign image.
//
optional BaseStationary base = 1;
// The classification of the traffic sign.
//
optional Classification classification = 2;
// Opaque reference of an associated 3D model of the traffic sign.
//
// \note It is implementation-specific how model_references are resolved to
// 3d models.
//
optional string model_reference = 3;
//
// \brief \c Classification data for a traffic sign.
//
// \image html OSI_DirectionScope.svg
//
// When constructing a \c MainSign, consider the use of the following
// members:
// - In order to include numerical values indicated in the sign,
// use \c TrafficSignValue::value. Accompany this value with an
// indication of its unit of measure given by \c
// TrafficSignValue::value_unit.
// - In order to include strings of text indicated in the sign,
// use \c TrafficSignValue::text. The interpretation of this text is
// left to a user-defined procedure.
// - Some traffic signs exist in two variants that have a similar
// semantic meaning and the property that the one results from flipping
// the other one around the vertical axis. The optional member \c
// #vertically_mirrored has been provided to enable an explicit choice
// between both variants.
// - For signs in which an arrow symbol is included to constraint their
// scope, the \c #direction_scope member has been provided to indicate
// the direction of the arrow from the perspective of a viewer standing
// right in front of the sign and looking straight towards it.
//
// \note The definition of the sign types is thought to be independent
// of the country, even if the images used in this documentation are
// based on the German Road Traffic Regulations (StVO).
//
message Classification
{
// This value indicates if a sign is static or dynamic regarding its
// content (e.g., electronic sign bridge) and/or regarding its
// position on the road.
//
optional Variability variability = 1;
// The type of the traffic sign.
//
// \attention Deprecated: A revision is planned for version 4.0.0 to
// replace the type enum with a more semantically defined enumeration,
// with the exact sign specification being relegated to the newly
// introduced 4-tupel traffic sign catalog specification as used in
// <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE</a>.
//
optional Type type = 2;
// Additional value associated with the traffic sign, e.g. value of
// the speed limit.
//
// \note Field need not be set if traffic sign type does not require
// it.
//
optional TrafficSignValue value = 3;
// Some traffic signs have an additional arrow symbol as an
// additional constraint for their scope (e.g. no parking to the
// right). The arrow direction is given relative to the sign's 2D
// image plane, i.e. as a viewer standing right in front of the sign
// and looking straight towards it would interpret the arrow.
//
// The definition for left and right is according to the following
// temporarily constructed right-handed local coordinate system:
// Set z-axis to match the z-axis of the ground truth coordinate
// system. Set x-axis to the view normal of the traffic sign's image
// (\c #base \c BaseStationary::orientation x-axis).
// Right: direction of the local coordinate system's positive
// y-axis. Left: opposite direction of the local coordinate system's
// y-axis i.e. negative y-axis',
//
// \note If a traffic sign image is on the ground (there is no
// definition for right or left). Normally, this is a road marking
// and not a traffic sign. Actual traffic signs lying on the ground
// might have been intentionally unmounted and, hence, not be in
// effect.
//
// \attention Deprecated: A revision is planned for version 4.0.0 to
// replace the type enum with a more semantically defined enumeration,
// with the exact sign specification being relegated to the newly
// introduced 4-tupel traffic sign catalog specification as used in
// <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE</a>.
//
optional DirectionScope direction_scope = 4;
// The IDs of the lanes that the sign is assigned to.
// May be multiple if the sign is valid for multiple lanes.
//
// \note OSI uses singular instead of plural for repeated field
// names.
//
// \rules
// refers_to: Lane
// \endrules
//
repeated Identifier assigned_lane_id = 5;
// Some traffic signs exist in two variants that have
// a similar semantic meaning but differ in that the symbol
// of the one corresponds to the specular reflection of the
// other with respect to the vertical axis.
// For some scenarios it might be relevant to choose the
// reflected version of a reference sign. This can be done
// by setting the \c #vertically_mirrored boolean to \c true.
// As for every boolean in the protocol buffers language, the
// default value of \c #vertically_mirrored is \c false.
//
// \attention Deprecated: A revision is planned for version 4.0.0 to
// replace the type enum with a more semantically defined enumeration,
// with the exact sign specification being relegated to the newly
// introduced 4-tupel traffic sign catalog specification as used in
// <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE</a>.
//
optional bool vertically_mirrored = 6;
// Boolean flag to indicate that a traffic sign is taken out of service.
// This can be achieved by visibly crossing the sign or covering it completely.
//
optional bool is_out_of_service = 7;
// Country specification of the traffic sign catalog specification
// that identifies the actual traffic sign. This is part of the
// 4-tupel traffic sign catalog specification as used in
// <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE</a>.
//
// Country is specified using the ISO 3166-1, alpha-2 code
// https://en.wikipedia.org/wiki/ISO_3166-1_alpha-2, or the
// special OpenDRIVE country for generic signs.<br>
//
optional string country = 8;
// Revision specification of the traffic sign catalog specification
// that identifies the actual traffic sign. This is part of the
// 4-tupel traffic sign catalog specification as used in
// <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE</a>.
//
// The year the traffic rules came into force. <br>
// e.g. "2017"
//
optional string country_revision = 9;
// Code specification of the traffic sign catalog specification
// that identifies the actual traffic sign. This is part of the
// 4-tupel traffic sign catalog specification as used in
// <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE</a>.
//
// Code identifier according to country and country revision,
// corresponds to the type field of OpenDRIVE. <br>
// code is only unique in combination with #country and #country_revision. <br>
// e.g. http://www.vzkat.de/2017/VzKat.htm
//
optional string code = 10;
// Sub-code specification of the traffic sign catalog specification
// that identifies the actual traffic sign. This is part of the
// 4-tupel traffic sign catalog specification as used in
// <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE</a>.
//
// Sub-code identifier according to country, country revision and code,
// corresponds to the subtype field of OpenDRIVE. <br>
// sub_code is only unique in combination with #country, #country_revision,
// and #code. <br>
// e.g. http://www.vzkat.de/2017/VzKat.htm
//
optional string sub_code = 11;
// Assignment of this object to logical lanes.
//
// \note OSI uses singular instead of plural for repeated field
// names.
//
repeated LogicalLaneAssignment logical_lane_assignment = 12;
// Definition of traffic sign types.
// Numbers are given according to German StVO.
//
// For an overview of the German StVO see:
// \arg
// https://www.bast.de/DE/Verkehrstechnik/Fachthemen/v1-verkehrszeichen/vz-download.html
// (Catalog of the Federal Road Research Institute - BASt)
// \arg
// https://www.dvr.de/publikationen/downloads/verkehrszeichen.html
// (Images) \arg
// https://www.gesetze-im-internet.de/stvo_2013/anlage_1.html
// (Allgemeine und Besondere Gefahrenzeichen) \arg
// https://www.gesetze-im-internet.de/stvo_2013/anlage_2.html
// (Vorschriftzeichen) \arg
// https://www.gesetze-im-internet.de/stvo_2013/anlage_3.html
// (Richtzeichen) \arg
// https://www.gesetze-im-internet.de/stvo_2013/anlage_4.html
// (Verkehrseinrichtungen) \arg https://traffic-rules.com/
//
// \attention Deprecated: A revision is planned for version 4.0.0 to
// replace the type enum with a more semantically defined enumeration,
// with the exact sign specification being relegated to the newly
// introduced 4-tupel traffic sign catalog specification as used in
// <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE</a>.
//
enum Type
{
// Type of traffic sign is unknown (must not be used in ground
// truth).
//
TYPE_UNKNOWN = 0;
// Other (unspecified but known) type of traffic sign.
//
TYPE_OTHER = 1;
// Warning: Danger sign.
// <table cellspacing="0" cellpadding="0">
// <tr>
// <td>
// \image html 101.png
// </td>
// <td>
// StVO 101
// </td>
// </table>
//
TYPE_DANGER_SPOT = 2;
// Warning: Zebra crossing.
// <table border="0">
// <tr>
// <td>
// \image html 101-11.png
// </td>
// <td>
// StVO 101-11
// </td>
// <td>
// Set \c #vertically_mirrored to \c false.
// </td>
// </tr>
// <tr>
// <td style="transform:scaleX(-1)">
// \image html 101-11.png
// </td>
// <td>
// StVO 101-21
// </td>
// <td>
// Set \c #vertically_mirrored to \c true.
// </td>
// </tr>
// <tr>
// <td>
// \image html 350-10.png
// </td>
// <td>
// StVO 350-10
// </td>
// <td>
// Set \c #vertically_mirrored to \c false.
// </td>
// </tr>
// <tr>
// <td>
// \image html 350-20.png
// </td>
// <td>
// StVO 350-20
// </td>
// <td>
// Set \c #vertically_mirrored to \c true.
// </td>
// </tr>
// </table>
//
// As symbolic road marking \c
// RoadMarking::Classification::TYPE_SYMBOLIC_TRAFFIC_SIGN.
//
// <table cellspacing="0" cellpadding="0">
// <tr>
// <td>
// \image html 293.png
// </td>
// <td>
// StVO 293
// </td>
// </table>
//
TYPE_ZEBRA_CROSSING = 87;
// Warning: Low-flying aircraft or sudden aircraft noise.
// <table border="0">
// <tr>
// <td>
// \image html 101-10.png
// </td>
// <td>
// StVO 101-10
// </td>
// <td>
// Set \c #vertically_mirrored to \c false.
// </td>
// </tr>
// <tr>
// <td style="transform:scaleX(-1)">
// \image html 101-10.png
// </td>
// <td>
// StVO 101-20
// </td>
// <td>
// Set \c #vertically_mirrored to \c true.
// </td>
// </tr>
// </table>
//
TYPE_FLIGHT = 110;
// Warning: Cattles crossing.
// <table border="0">
// <tr>
// <td>
// \image html 101-12.png
// </td>
// </td>
// <td>
// StVO 101-12
// </td>
// <td>
// Set \c #vertically_mirrored to \c false.
// </td>
// </tr>
// <tr>
// <td style="transform:scaleX(-1)">
// \image html 101-12.png
// </td>
// <td>
// StVO 101-22
// </td>
// <td>
// Set \c #vertically_mirrored to \c true.
// </td>
// </tr>
// </table>
//
TYPE_CATTLE = 200;
// Warning: Horse riders.
// <table border="0">
// <tr>
// <td>
// \image html 101-13.png
// </td>
// <td>
// StVO 101-13
// </td>
// <td>
// Set \c #vertically_mirrored to \c false.
// </td>
// </tr>
// <tr>
// <td style="transform:scaleX(-1)">
// \image html 101-13.png
// </td>
// <td>
// StVO 101-23
// </td>
// <td>
// Set \c #vertically_mirrored to \c true.
// </td>
// </tr>
// </table>
//
TYPE_HORSE_RIDERS = 197;
// Warning: Amphibian migration.
// <table border="0">
// <tr>
// <td>
// \image html 101-14.png
// </td>
// <td>
// StVO 101-14
// </td>
// <td>
// Set \c #vertically_mirrored to \c false.
// </td>
// </tr>
// <tr>
// <td style="transform:scaleX(-1)">
// \image html 101-14.png
// </td>
// <td>
// StVO 101-24
// </td>
// <td>
// Set \c #vertically_mirrored to \c true.
// </td>
// </tr>
// </table>
//
TYPE_AMPHIBIANS = 188;
// Warning: Falling rocks.
// <table border="0">
// <tr>
// <td>
// \image html 101-15.png
// </td>
// <td>
// StVO 101-15
// </td>
// <td>
// Set \c #vertically_mirrored to \c false.
// </td>
// </tr>
// <tr>
// <td style="transform:scaleX(-1)">
// \image html 101-15.png
// </td>
// <td>
// StVO 101-25
// </td>
// <td>
// Set \c #vertically_mirrored to \c true.
// </td>
// </tr>
// </table>
//
TYPE_FALLING_ROCKS = 96;
// Warning: Risk of snow or ice.
// <table cellspacing="0" cellpadding="0">
// <tr>
// <td>
// \image html 101-51.png
// </td>
// <td>
// StVO 101-51
// </td>
// </tr>
// </table>
//
TYPE_SNOW_OR_ICE = 94;
// Warning: Crushed stones.
// <table cellspacing="0" cellpadding="0">
// <tr>
// <td>
// \image html 101-52.png
// </td>
// <td>
// StVO 101-52
// </td>
// </tr>
// </table>
//
TYPE_LOOSE_GRAVEL = 97;
// Warning: Waterside.
// <table cellspacing="0" cellpadding="0">
// <tr>
// <td>
// \image html 101-53.png
// </td>
// <td>
// StVO 101-53
// </td>
// </tr>
// </table>
//
TYPE_WATERSIDE = 102;
// Warning: Not enough clearance.
// <table cellspacing="0" cellpadding="0">
// <tr>
// <td>
// \image html 101-54.png
// </td>
// <td>
// StVO 101-54
// </td>
// </tr>
// </table>
//
TYPE_CLEARANCE = 210;
// Warning: Movable bridge.
// <table cellspacing="0" cellpadding="0">
// <tr>
// <td>
// \image html 101-55.png
// </td>
// <td>
// StVO 101-55
// </td>
// </tr>
// </table>
//
TYPE_MOVABLE_BRIDGE = 101;
// Warning: "Right before left" rule at the next intersection.
// <table cellspacing="0" cellpadding="0">
// <tr>
// <td>
// \image html 102.png
// </td>
// <td>
// StVO 102
// </td>
// </tr>
// </table>
//
TYPE_RIGHT_BEFORE_LEFT_NEXT_INTERSECTION = 3;
// Warning: Sign for a left turn.
// <table cellspacing="0" cellpadding="0">
// <tr>
// <td>
// \image html 103-10.png
// </td>
// <td>
// StVO 103-10
// </td>
// </tr>
// </table>
//
// Right: \c #TYPE_TURN_RIGHT
//
TYPE_TURN_LEFT = 4;
// Warning: Sign for a right turn.
// <table cellspacing="0" cellpadding="0">
// <tr>
// <td>
// \image html 103-20.png
// </td>
// <td>
// StVO 103-20
// </td>
// </tr>
// </table>
//
// Left: \c #TYPE_TURN_LEFT
//
TYPE_TURN_RIGHT = 5;
// Warning: Sign for a double turn (first left turn).
// <table cellspacing="0" cellpadding="0">
// <tr>
// <td>
// \image html 105-10.png
// </td>
// <td>
// StVO 105-10
// </td>
// </tr>
// </table>
//
// Right: \c #TYPE_DOUBLE_TURN_RIGHT
//
TYPE_DOUBLE_TURN_LEFT = 6;
// Warning: Sign for a double turn (first right turn).
// <table cellspacing="0" cellpadding="0">
// <tr>
// <td>
// \image html 105-20.png
// </td>
// <td>
// StVO 105-20
// </td>
// </tr>
// </table>
//
// Left: \c #TYPE_DOUBLE_TURN_LEFT
//
TYPE_DOUBLE_TURN_RIGHT = 7;
// Warning: Steep hill downwards.
// <table cellspacing="0" cellpadding="0">
// <tr>
// <td>
// \image html 108-4.png
// </td>
// <td>
// StVO 108
// </td>
// <td>
// Use \c TrafficSignValue::value and \c
// TrafficSignValue::value_unit to indicate slope.
// </td>
// </tr>
// </table>
//
TYPE_HILL_DOWNWARDS = 8;
// Warning: Steep hill upwards.
// <table cellspacing="0" cellpadding="0">
// <tr>
// <td>
// \image html 110-4.png
// </td>
// <td>
// StVO 110
// </td>
// <td>
// Use \c TrafficSignValue::value and \c
// TrafficSignValue::value_unit to indicate slope
// </td>
// </tr>
// </table>
//
TYPE_HILL_UPWARDS = 9;
// Warning: Uneven road.
// <table cellspacing="0" cellpadding="0">
// <tr>
// <td>
// \image html 112.png
// </td>
// <td>
// StVO 112
// </td>
// </tr>
// </table>
//
TYPE_UNEVEN_ROAD = 93;
// Warning: Road slippery when wet or dirty.
// <table cellspacing="0" cellpadding="0">
// <tr>
// <td>
// \image html 114.png
// </td>
// <td>
// StVO 114
// </td>
// </tr>
// </table>
//
TYPE_ROAD_SLIPPERY_WET_OR_DIRTY = 95;
// Warning: Side winds.
// <table border="0">
// <tr>
// <td>
// \image html 117-10.png
// </td>
// <td>
// StVO 117-10
// </td>
// <td>
// Set \c #vertically_mirrored to \c false.
// </td>
// </tr>
// <tr>
// <td style="transform:scaleX(-1)">
// \image html 117-10.png
// </td>
// <td>
// StVO 117-20
// </td>
// <td>
// Set \c #vertically_mirrored to \c true.
// </td>
// </tr>
// </table>
//
TYPE_SIDE_WINDS = 98;
// Warning: Road narrowing.
// <table cellspacing="0" cellpadding="0">
// <tr>
// <td>
// \image html 120.png
// </td>
// <td>
// StVO 120
// </td>
// </tr>
// </table>
//
TYPE_ROAD_NARROWING = 10;
// Warning: Road narrowing on the right.
// <table cellspacing="0" cellpadding="0">
// <tr>
// <td>
// \image html 121-10.png
// </td>
// <td>
// StVO 121-10
// </td>
// </tr>
// </table>
//
TYPE_ROAD_NARROWING_RIGHT = 12;
// Warning: Road narrowing on the left.
// <table cellspacing="0" cellpadding="0">
// <tr>
// <td>
// \image html 121-20.png
// </td>
// <td>
// StVO 121-20
// </td>
// </tr>
// </table>
//
TYPE_ROAD_NARROWING_LEFT = 11;
// Warning: Road works sign.
// <table cellspacing="0" cellpadding="0">
// <tr>
// <td>
// \image html 123.png
// </td>
// <td>
// StVO 123
// </td>
// </tr>
// </table>
//
TYPE_ROAD_WORKS = 13;
// Warning: Traffic queues likely.
// <table cellspacing="0" cellpadding="0">
// <tr>
// <td>
// \image html 124.png
// </td>
// <td>
// StVO 124
// </td>
// </tr>
// </table>
//
TYPE_TRAFFIC_QUEUES = 100;
// Warning: Two-way-traffic (after one-way lane).
// <table cellspacing="0" cellpadding="0">
// <tr>
// <td>
// \image html 125.png
// </td>
// <td>
// StVO 125
// </td>
// </tr>
// </table>
//
TYPE_TWO_WAY_TRAFFIC = 14;
// Warning: Traffic light ahead sign.
// <table cellspacing="0" cellpadding="0">
// <tr>
// <td>
// \image html 131.png