Add new message for BoundingBox sub-sections

osi_common.proto

@@ -387,6 +387,113 @@ message LogicalLaneAssignment
     optional double angle_to_lane = 4;
 }
 
+// \brief A bounding box containing a sub-section of a object. 
+//
+// A bounding box representing a sub-section of it's parents overall dimension, 
+// either that of a \c MovingObject or \c StationaryObject .
+//
+// The parent frame of the \c BoundingBox is not relative to the parent object
+// it is associated to, but in the same parent frame as the parent object.
+//
+message BoundingBox
+{
+    // The 3D dimensions of the bounding box.
+    //
+    optional Dimension3d dimension = 1;
+
+    // The 3D position of the bounding box.
+    //
+    // \note The position should be within the same coordinate frame as it's
+    // parent, not relative to coordinate frame of the parent object. The 
+    // position becomes global/absolute if the parent frame is inertial 
+    // (all parent frames up to ground truth).
+    //
+    optional Vector3d position = 2;
+
+    // The 3D orientation of the bounding box.
+    //
+    // \note The orientation should be within the same coordinate frame as it's
+    // parent, not relative to coordinate frame of the parent object. The 
+    // orientation becomes global/absolute if the parent frame is inertial 
+    // (all parent frames up to ground truth).
+    //
+    optional Orientation3d orientation = 3;
+
+    // The type of object contained in the bounding box.
+    //
+    optional Type contained_object_type = 4; 
+
+    // Opaque reference of an associated 3D model of the bounding box.
+    //
+    // \note It is implementation-specific how model_references are resolved to
+    // 3d models. This means the coordinate system, model origin, and model
+    // orientation are also implementation-specific.
+    //
+    optional string model_reference = 5;
+
+    // Definition of different types of object contained within the bounding box
+    //
+    enum Type
+    {
+        // Object of unknown type (must not be used in ground truth).
+        //
+        TYPE_UNKNOWN = 0;
+
+        // Any other type of object.
+        //
+        TYPE_OTHER = 1;
+
+        // The main chassis of a vehicle.
+        //
+        TYPE_CHASSIS = 2;
+
+        // The door of a vehicle.
+        // 
+        TYPE_DOOR = 3;
+
+        // The side mirror of a vehicle.
+        // 
+        TYPE_SIDE_MIRROR = 4;
+
+        // Additional cargo attached to the a vehicle which is temporarily
+        // attached.
+        // 
+        TYPE_CARGO = 5;
+
+        // The wheel of a vehicle.
+        // 
+        TYPE_WHEEL = 6;
+
+        // The torso section of a person or animal.
+        // 
+        TYPE_TORSO = 7;
+
+        // An external limb of a person or animal.
+        // 
+        TYPE_LIMB = 8;
+
+        // The head of a person or animal.
+        // 
+        TYPE_HEAD = 9;
+
+        // The trunk section of a tree.
+        // 
+        TYPE_TREE_TRUNK = 10;
+
+        // The crown of a tree, usually encompassing the branches and leaves.
+        // 
+        TYPE_TREE_CROWN = 11;
+
+        // The vertical pole of a street light.
+        // 
+        TYPE_STREET_LIGHT_POLE = 12;
+
+        // The horizontal arm of a street light.
+        // 
+        TYPE_STREET_LIGHT_ARM = 13;
+    }
+}
+
 //
 // \brief The base attributes of a stationary object or entity.
 //
@@ -447,6 +554,17 @@ message BaseStationary
     // The polygon is defined counter-clockwise.
     //
     repeated Vector2d base_polygon = 4;
+
+    // Sub-divisions of the overall bounding box of the \c BaseStationary object.
+    //
+    // The bounding box sections can include separate parts on partially-opaque
+    // objects such are trees with a distinction between trunk and crown.
+    //
+    // \note When one or more \c BoundingBox s are associated to a 
+    // \c BaseStationary , the expectation is that all sections are contained
+    // within the bounds of the \c #dimension .
+    //
+    repeated BoundingBox bounding_box_section = 5;
 }
 
 //
@@ -569,6 +687,19 @@ message BaseMoving
     // The polygon is defined counter-clockwise.
     //
     repeated Vector2d base_polygon = 7;
+
+    // Sub-divisions of the overall bounding box of the \c BaseMoving object.
+    //
+    // The bounding box sections can include side mirrors, cargo, etc. for 
+    // vehicles, as well as body-part sections for pedestrians.
+    //
+    // \note When one or more \c BoundingBox s are associated to a 
+    // \c BaseMoving , the expectation is that all sections are contained
+    // within the bounds of the \c #dimension . Currently there several accepted
+    // exceptions to this rule, specifically the sub-sections for cargo, vehicle
+    // side mirrors, and doors not in the their closed position.
+    //
+    repeated BoundingBox bounding_box_section = 9;
 }
 
 //