Fix base reference frame definitions

- Remove specific reference frame definitions in base stationary and base moving
- Add specific reference frame definitions where base objects are used
- Mention all messages where the base objects are used in base definition

Signed-off-by: Thomas Sedlmayer <[email protected]>

Author: thomassedlmayer

osi_common.proto

@@ -494,14 +494,12 @@ message BoundingBox
 // \brief The base attributes of a stationary object or entity.
 //
 // This includes the \c StationaryObject , \c TrafficSign ,
-// \c TrafficLight , \c RoadMarking messages.
+// \c TrafficLight , \c RoadMarking messages and the corresponding detected
+// object messages ( \c DetectedStationaryObject , \c DetectedTrafficSign ,
+// \c DetectedTrafficLight , and \c DetectedRoadMarking ).
 //
-// \image html OSI_BaseStationary.svg
-//
-// All coordinates and orientations from ground truth objects are relative to
-// the global ground truth frame (see image). (All coordinates and orientations
-// from detected objects are relative to the host vehicle frame (see:
-// \c Vehicle vehicle reference point).)
+// The reference frame of \c BaseStationary depends on the context in which it
+// is used and is defined in the message where the \c BaseStationary is used.
 //
 message BaseStationary
 {
@@ -575,18 +573,16 @@ message BaseStationary
 //
 // \brief The base attributes of an object that is moving.
 //
-// This includes the \c MovingObject messages.
+// This includes the \c MovingObject and \c DetectedMovingObject messages.
 //
 // \image html OSI_BaseMoving.svg
 //
 // \image html OSI_BaseMoving_Top.svg
 //
 // E.g. a vehicle is a base moving object.
 //
-// All coordinates and orientations from ground truth objects are relative to
-// the global ground truth frame. All coordinates and orientations
-// from detected objects are relative to the host vehicle frame
-// (see: \c MovingObject vehicle reference point).
+// The reference frame of \c BaseMoving depends on the context in which it is
+// used and is defined in the message where the \c BaseMoving is used.
 //
 message BaseMoving
 {

osi_detectedobject.proto

@@ -114,6 +114,9 @@ message DetectedStationaryObject
 
     // The base parameters of the stationary object.
     //
+    // The parent frame of \c DetectedStationaryObject::base is the virtual
+    // sensor coordinate system.
+    //
     optional BaseStationary base = 2;
 
     // The root mean squared error of the base parameters of the detected
@@ -205,6 +208,9 @@ message DetectedMovingObject
 
     // The base parameters of the moving object.
     //
+    // The parent frame of \c DetectedMovingObject::base is the virtual sensor
+    // coordinate system.
+    //
     // \note The bounding box does NOT include mirrors for vehicles.
     // \note The height includes the ground_clearance. It always goes from the
     // top to the ground.

osi_detectedroadmarking.proto

@@ -37,6 +37,9 @@ message DetectedRoadMarking
 
     // The base parameters of the road marking.
     //
+    // The parent frame of \c RoadMarking::base is the virtual sensor coordinate
+    // system.
+    //
     // 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

osi_detectedtrafficlight.proto

@@ -34,6 +34,9 @@ message DetectedTrafficLight
 
     // The base parameters of the traffic light.
     //
+    // The parent frame of \c TrafficLight::base is the virtual sensor
+    // coordinate system.
+    //
     // \c BaseStationary::orientation x-axis is view normal of the traffic
     // light's icon.
     //

osi_detectedtrafficsign.proto

@@ -52,6 +52,9 @@ message DetectedTrafficSign
 
         // The base parameters of the traffic sign.
         //
+        // The parent frame of \c DetectedMainSign::base is the virtual sensor
+        // coordinate system.
+        //
         // The orientation of the bounding box \c #base
         // ( \c BaseStationary::orientation ) is defined as follows:
         //
@@ -186,6 +189,9 @@ message DetectedTrafficSign
 
         // The base parameters of the supplementary traffic sign.
         //
+        // The parent frame of \c DetectedSupplementarySign::base is the virtual
+        // sensor coordinate system.
+        //
         // The orientation of the bounding box \c SupplementarySign::base
         // ( \c BaseStationary::orientation ) is defined as follows:
         // The z-axis of the given \c BaseStationary::orientation is the vector

osi_object.proto

@@ -11,6 +11,8 @@ package osi3;
 // \c MovingObject e.g. pedestrian, animal, or vehicle) nor a traffic related
 // object (\c TrafficLight, \c TrafficSign).
 //
+// The parent frame of a stationary object is the global coordinate system.
+//
 // \image html OSI_BaseStationary.svg
 //
 // \c StationaryObject excludes traffic lights, traffic signs and road marking
@@ -28,6 +30,9 @@ message StationaryObject
 
     // The base parameters of the stationary object.
     //
+    // The parent frame of \c StationaryObject::base is the global coordinate
+    // system.
+    //
     optional BaseStationary base = 2;
 
     // The classification of the stationary object.
@@ -395,6 +400,8 @@ message StationaryObject
 // moving object (animal, pedestrian, etc), but not a stationary
 // object (\c TrafficLight, \c TrafficSign, or \c StationaryObject).
 //
+// The parent frame of a moving object is the global coordinate system.
+//
 // \image html OSI_MovingObject.svg
 //
 // \image html OSI_HostVehicle.svg
@@ -416,6 +423,9 @@ message MovingObject
 
     // The base parameters of the vehicle.
     //
+    // The parent frame of \c MovingObject::base is the global coordinate
+    // system.
+    //
     // \note The bounding box does NOT include side mirrors for vehicles.
     // \note The height includes the ground_clearance. It always goes from the
     // top to the ground.

osi_roadmarking.proto

@@ -37,6 +37,8 @@ message RoadMarking
 
     // The base parameters of the road marking.
     //
+    // The parent frame of \c RoadMarking::base is the global coordinate system.
+    //
     // 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

osi_trafficlight.proto

@@ -9,6 +9,9 @@ package osi3;
 //
 // \brief A traffic light.
 //
+// All coordinates and orientations are relative to the global ground truth
+// coordinate system.
+//
 // \image html OSI_TrafficLight.svg
 //
 // One traffic light message defines a single 'bulb' and not a box of several
@@ -27,6 +30,9 @@ message TrafficLight
 
     // The base parameters of the traffic light.
     //
+    // The parent frame of \c TrafficLight::base is the global coordinate
+    // system.
+    //
     // \c BaseStationary::orientation x-axis is view normal of the traffic
     // light's icon.
     //

osi_trafficsign.proto

@@ -222,6 +222,9 @@ message TrafficSign
     {
         // The base parameters of the traffic sign.
         //
+        // The parent frame of \c MainSign::base is the global coordinate
+        // system.
+        //
         // 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
@@ -5585,6 +5588,9 @@ message TrafficSign
     {
         // The base parameters of the supplementary traffic sign.
         //
+        // The parent frame of \c SupplementarySign::base is the global
+        // coordinate system.
+        //
         // The orientation of the bounding box \c SupplementarySign::base
         // ( \c BaseStationary::orientation ) is defined as follows:
         // The z-axis of the given \c BaseStationary::orientation is the vector