package 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

• repeated Trajectory trajectory = 1

  can have multiple trajectories per obstacle

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: prediction.PredictionObstacle

• optional int32 id = 1

  obstacle ID.

• optional geometry.Point3D position = 2

  obstacle position in the world coordinate system.

• optional double theta = 3

  heading in the world coordinate system.

• optional geometry.Point3D 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 geometry.Point3D 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 debugging, will not fill this field on board. Format: [x0, y0, z0, x1, y1, z1...]

• optional double confidence = 13

• optional PerceptionObstacle.ConfidenceType confidence_type = 14

• repeated geometry.Point3D drops = 15

  trajectory of object.

• optional geometry.Point3D acceleration = 16

  The following fields are new added in Apollo 4.0

  obstacle acceleration

• optional geometry.Point3D anchor_point = 17

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

• optional BBox2D bbox2d = 18

• optional PerceptionObstacle.SubType sub_type = 19

  obstacle sub_type

• repeated SensorMeasurement measurements = 20

  sensor measurements

• optional double height_above_ground = 21

  orthogonal distance between obstacle lowest point and ground plane

• repeated double position_covariance = 22

  position covariance which is a row-majored 3x3 matrix

• repeated double velocity_covariance = 23

  velocity covariance which is a row-majored 3x3 matrix

• repeated double acceleration_covariance = 24

  acceleration covariance which is a row-majored 3x3 matrix

• optional LightStatus light_status = 25

  lights of vehicles

• optional DebugMessage msg = 26

  Debug Message

• optional PerceptionObstacle.Source source = 27

• optional V2XInformation v2x_info = 28

Used in: PerceptionObstacle

• CONFIDENCE_UNKNOWN = 0

• CONFIDENCE_CNN = 1

• CONFIDENCE_RADAR = 2

Used in: PerceptionObstacle

• HOST_VEHICLE = 0

• V2X = 1

Used in: PerceptionObstacle, SensorMeasurement

• ST_UNKNOWN = 0

• ST_UNKNOWN_MOVABLE = 1

• ST_UNKNOWN_UNMOVABLE = 2

• ST_CAR = 3

• ST_VAN = 4

• ST_TRUCK = 5

• ST_BUS = 6

• ST_CYCLIST = 7

• ST_MOTORCYCLIST = 8

• ST_TRICYCLIST = 9

• ST_PEDESTRIAN = 10

• ST_TRAFFICCONE = 11

Used in: PerceptionObstacle, SensorMeasurement

• UNKNOWN = 0

• UNKNOWN_MOVABLE = 1

• UNKNOWN_UNMOVABLE = 2

• PEDESTRIAN = 3

  Pedestrian, usually determined by moving behavior.

• BICYCLE = 4

  bike, motor bike

• VEHICLE = 5

  Passenger car or truck.

Used in: PerceptionObstacle

• optional string sensor_id = 1

• optional int32 id = 2

• optional geometry.Point3D position = 3

• optional double theta = 4

• optional double length = 5

• optional double width = 6

• optional double height = 7

• optional geometry.Point3D velocity = 8

• optional PerceptionObstacle.Type type = 9

• optional PerceptionObstacle.SubType sub_type = 10

• optional double timestamp = 11

• optional BBox2D box = 12

  only for camera measurements

Used in: DebugMessage

• optional double probability = 1

  probability of this trajectory

• repeated points.TrajectoryPoint trajectory_point = 2

Used in: PerceptionObstacle

• repeated V2XInformation.V2XType v2x_type = 1

Used in: V2XInformation

• NONE = 0

• ZOMBIES_CAR = 1

• BLIND_ZONE = 2