package apollo.perception

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Used in: PerceptionObstacle, SensorMeasurement

• optional double xmin = 1

  in pixels.

• optional double ymin = 2

  in pixels.

• optional double xmax = 3

  in pixels.

• optional double ymax = 4

  in pixels.

Used in: PerceptionObstacle

• BRAKE_DARK = 0

• BRAKE_BRIGHT = 1

• BRAKE_UNKNOWN = 2

Used in: PerceptionObstacle

• optional double brake_visible = 1

• optional double brake_switch_on = 2

• optional double left_turn_visible = 3

• optional double left_turn_switch_on = 4

• optional double right_turn_visible = 5

• optional double right_turn_switch_on = 6

Used in: PerceptionObstacles

• ERROR_NONE = 0

• ERROR_TF = 1

• ERROR_PROCESS = 2

• ERROR_UNKNOWN = 3

Used in: PerceptionObstacles

• optional int32 id = 1

  obstacle ID.

• optional Point position = 2

  obstacle position in the world coordinate system.

• optional double theta = 3

  heading in the world coordinate system.

• optional Point velocity = 4

  obstacle velocity.

• optional double length = 5

  Size of obstacle bounding box.

  obstacle length.

• optional double width = 6

  obstacle width.

• optional double height = 7

  obstacle height.

• repeated Point polygon_point = 8

  obstacle corner points.

• optional double tracking_time = 9

  duration of an obstacle since detection in s.

• optional PerceptionObstacle.Type type = 10

  obstacle type

• optional double timestamp = 11

  GPS time in seconds.

• repeated double point_cloud = 12

  Just for offline debuging, onboard will not fill this field. Format like : [x0, y0, z0, x1, y1, z1...]

• optional Point anchor_point = 13

  a stable obstacle point in the world coordinate system position defined above is the obstacle boundingbox ground center

• repeated double position_covariance = 14

  position covariance which is a row-majored 3x3 matrix

• repeated double velocity_covariance = 15

  velocity covariance which is a row-majored 3x3 matrix

• optional double height_above_ground = 16

  orthogonal distance between obstacle lowest point and ground plane

• optional BrakeLight brake_light = 17

• optional LightStatus light_status = 18

• optional BBox2D bbox2d = 19

• optional SubType sub_type = 20

• repeated SensorMeasurement measurements = 21

  sensor measurements

• optional Point acceleration = 22

  obstacle acceleration.

• repeated double acceleration_covariance = 23

  acceleration covariance which is a row-majored 3x3 matrix

Used in: PerceptionObstacle

• UNKNOWN = 0

• UNKNOWN_MOVABLE = 1

• UNKNOWN_UNMOVABLE = 2

• PEDESTRIAN = 3

  Pedestrian, usually determined by moving behaviour.

• BICYCLE = 4

  bike, motor bike

• VEHICLE = 5

  Passenger car or truck.

Used as request type in: v2x.CarToObu.PushPerceptionResult, v2x.ObuToCar.SendPerceptionObstacles

• repeated PerceptionObstacle perception_obstacle = 1

  An array of obstacles

• optional common.Header header = 2

  Header

• optional PerceptionErrorCode error_code = 3

Used in: PerceptionObstacle, SensorMeasurement

• optional double x = 1

  in meters.

• optional double y = 2

  in meters.

• optional double z = 3

  height in meters.

Used in: PerceptionObstacle

• optional string sensor_id = 1

• optional int32 id = 2

• optional Point position = 3

• optional double theta = 4

• optional double length = 5

• optional double width = 6

• optional double height = 7

• optional Point velocity = 8

• optional SensorMeasurement.Type type = 9

• optional SubType sub_type = 10

• optional double timestamp = 11

• optional BBox2D box = 12

  only for camera measurements

Used in: SensorMeasurement

• UNKNOWN = 0

• UNKNOWN_MOVABLE = 1

• UNKNOWN_UNMOVABLE = 2

• PEDESTRIAN = 3

  Pedestrian, usually determined by moving behaviour.

• BICYCLE = 4

  bike, motor bike

• VEHICLE = 5

  Passenger car or truck.

Used in: PerceptionObstacle, SensorMeasurement

• UNKNOWN = 0

• UNKNOWN_MOVABLE = 1

• UNKNOWN_UNMOVABLE = 2

• CAR = 3

• VAN = 4

• TRUCK = 5

• BUS = 6

• CYCLIST = 7

• MOTORCYCLIST = 8

• TRICYCLIST = 9

• PEDESTRIAN = 10

• TRAFFICCONE = 11

Used in: TrafficLightDetection

• optional TrafficLight.Color color = 1

• optional string id = 2

  Traffic light string-ID in the map data.

• optional double confidence = 3

  How confidence about the detected results, between 0 and 1.

• optional double tracking_time = 4

  Duration of the traffic light since detected.

• optional bool blink = 5

  Is traffic blinking

Used in: TrafficLight, TrafficLightBox

• UNKNOWN = 0

• RED = 1

• YELLOW = 2

• GREEN = 3

• BLACK = 4

Used in: TrafficLightDebug

• optional int32 x = 1

• optional int32 y = 2

• optional int32 width = 3

• optional int32 height = 4

• optional TrafficLight.Color color = 5

• optional bool selected = 6

Used in: TrafficLightDetection

• optional TrafficLightBox cropbox = 1

• repeated TrafficLightBox box = 2

• optional int32 signal_num = 3

• optional int32 valid_pos = 4

• optional double ts_diff_pos = 5

• optional double ts_diff_sys = 6

• optional int32 project_error = 7

• optional double distance_to_stop_line = 8

• repeated TrafficLightBox crop_roi = 9

• repeated TrafficLightBox projected_roi = 10

• repeated TrafficLightBox rectified_roi = 11

• repeated TrafficLightBox debug_roi = 12

Used as request type in: v2x.ObuToCar.SendPerceptionTrafficLight

• optional common.Header header = 2

• repeated TrafficLight traffic_light = 1

• optional TrafficLightDebug traffic_light_debug = 3

• optional bool contain_lights = 4

• optional TrafficLightDetection.CameraID camera_id = 5

Used in: TrafficLightDetection

• CAMERA_FRONT_LONG = 0

• CAMERA_FRONT_NARROW = 1

• CAMERA_FRONT_SHORT = 2

• CAMERA_FRONT_WIDE = 3