syntax = "proto2";

option optimize_for = SPEED;

import "osi_common.proto";
import "osi_trafficlight.proto";
import "osi_detectedobject.proto";

package osi3;

//
// \brief A traffic light in the environment as detected by the sensor.
//
// \image html OSI_DetectedTrafficLight.svg
//
// One detected traffic light message defines a single 'bulb' and not a box of
// several bulbs, e.g. red, yellow, green are three separate detected traffic
// lights.
//
// The parent frame of a detected traffic light is the virtual sensor coordinate
// system.
//
// /note The virtual sensor coordinate system is relative to the vehicle coordinate
// system which has its origin in the center of the rear axle of the ego
// vehicle. This means if virtual sensor mounting position and orientation are
// set to (0,0,0) the virtual sensor coordinate system coincides with the
// vehicle coordinate system.
//
message DetectedTrafficLight
{
    // Common information of one detected item.
    //
    optional DetectedItemHeader header = 1;

    // The base parameters of the traffic light.
    //
    // \c BaseStationary::orientation x-axis is view normal of the traffic
    // light's icon.
    //
    optional BaseStationary base = 2;

    // The root mean squared error of the base parameters of the detected
    // traffic light's geometry. \c TrafficLight::base has to be identical
    // for all \c #candidate traffic lights.
    //
    optional BaseStationary base_rmse = 3;

    // A list of candidates for this traffic light as estimated by the
    // sensor.
    //
    repeated CandidateTrafficLight candidate = 4;

    // The visual color of the traffic light.
    //
    // \note This does not represent the semantic classification but the visual
    // appearance.  For semantic classification of the traffic light use the color
    // field in \c CandidateTrafficLight::classification.
    //
    optional ColorDescription color_description = 5;

    //
    // \brief A candidate for a detected traffic light as estimated by
    // the sensor.
    //
    message CandidateTrafficLight
    {
        // 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.
        //
        // \rules
        // is_less_than_or_equal_to: 1
        // is_greater_than_or_equal_to: 0
        // \endrules
        //
        optional double probability = 1;

        // The classification of one traffic light that define this candidate.
        //
        // \note IDs, which are referenced in this message, usually
        // reference to \c DetectedXXX::tracking_id IDs.
        //
        optional TrafficLight.Classification classification = 2;
    }
}
