package guideline

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Used in: GuidelineEngineConfig

• oneof sound_pack

  • LegacySoundPackOptions legacy_sound_pack_options = 1

• optional bool quick_initialization = 2

  If true, the initialization sound will immediately stop once a signal is available.

• optional bool stop_alert = 3

  If true, plays an alert when guidance signal is lost. Otherwise goes back to initialization sound state.

Used in: HumanRepresentationOptions

• optional int32 max_history_to_keep = 1

• optional google.protobuf.Duration velocity_window = 2

Guidance instructions for the Guideline classic mode.

• optional LineDetection line_detection = 1

  The raw line detection for the last frame.

• optional bool stop = 2

  Whether the runner should stop due to insufficient guidance confidence.

• optional float lateral_position = 3

  The filtered lateral position of the line relative to the runner. The value is in the range [-1, 1], with -1 meaning the line is to the left and 1 meaning the line is to the right.

• optional float detected_curve_angle_degrees = 4

  The filtered detected curve angle of the line ahead of the runner. An angle of 0 degrees means no curve is detected, a positive angle means the line is curving to the right, and a negative angle means the line is curving to the left.

Used in: FrameBasedOccupancyMapOptions

• optional int32 width = 1

  The width of the clearance zone (meters).

• optional int32 depth = 2

  The depth of the clearance zone (meters).

• optional float bottom = 3

  The bottom of the clearance zone relative to the camera position (meters).

• optional float top = 4

  The top of the clearance zone relative to the camera position (meters).

Allows custom control signal data through proto extensions.

(message has no fields)

Lightweight proto representation of the ControlSignal. Used to pass signal data between native code and Java. Should not contain large amounts of data.

• optional bool stop = 1

  Indicates whether the user should stop navigating.

• optional StopReason stop_reason = 2

  Indicates the reason why stop signal was given, if currently in stopped state.

• optional float rotation_degrees = 3

  The angle in degrees from the users current heading to a point some distance ahead of the runner.

• optional float rotation_ahead_degrees = 5

  Desired user rotational movement based on user position, direction of upcoming line and ahead distance omitted.

• optional float lateral_movement_meters = 4

  The tangetial distance in meters form the runner to the closest point on the line.

• optional float turn_angle_degrees = 6

  Angle in degrees representing sharpness of the turn indicated by turn_point.

• optional float turn_distance_meters = 7

  Distance in meters to an upcoming turn indicated by turn_point.

• optional float speed_meters_per_second = 8

  The speed of the user in meters per second.

Used in: GuidelineEngineConfig

• optional SimpleControlSystemOptions simple_control_system_options = 1

Used in: OccupancyMapOptions

• optional float occupancy_threshold = 1

• optional ClearanceZoneOptions clearance_zone_options = 2

• optional float point_confidence_threshold = 3

Used in: PointCloudOptions

• optional int32 subsample_step = 1

Used in: GuidelineEngineConfig

• optional google.protobuf.Duration eager_stop_threshold = 1

• optional bool enable_obstacle_detection = 2

  For enabling obstacle detection. When enabled, guideline system computes point cloud and occupancy map from the depth map, also enables STOP signal in case of obstacles within certain region. If set to true, then one of 'use_arcore_for_depth' or 'DetectorOptions.use_subgraph' must also be true.

• optional bool use_arcore_for_depth = 3

  Whether to use ARCore depth maps when obstacle detection is enabled.

• optional bool obstacle_only_mode = 4

  Disables guideline guidance and only alerts for obstacles.

• optional float camera_height_meters = 5

  The height of the camera above the ground. TODO(b/211624301): Configure this parameter through a calibration step.

• optional bool align_depth_with_features = 6

  If true, a RANSAC solver is used to align ML depth map with tracked VIO features.

Used in: GuidelineEngineConfig

• oneof guideline_aggregator_options

  • SortedGuidelineBoxPointAggregatorOptions sorted_guideline_box_point_aggregator_options = 1

  • LocalTemporalRegressionBasedGuidelineAggregatorOptions local_temporal_regression_based_guideline_aggregator_options = 2

Configuration for the Guideline Engine. Next available index: 10

• optional GuidelineEngineConfig.DetectorOptions detector_options = 1

• optional GuidelineAggregatorOptions guideline_aggregator_options = 2

• optional ControlSystemOptions control_system_options = 3

• optional HumanRepresentationOptions human_representation_options = 4

• optional GuidanceSystemOptions guidance_system_options = 5

• optional OccupancyMapOptions occupancy_map_options = 6

• optional PointCloudOptions point_cloud_options = 7

• optional AudioSystemOptions audio_system_options = 8

• optional VisualizationOptions visualization_options = 9

Options for the line detector.

Used in: GuidelineEngineConfig

• optional DetectorOptions.ModelFiles model_files = 1

  Can be used to override the segmenter model using external TFLite model and labelmap files.

• optional KeypointExtractorOptions keypoint_extractor_options = 2

• optional bool use_subgraph = 3

  Enables the segmentation subgraph, also required for depth.

TFlite files for the ML pipeline.

Used in: DetectorOptions

• optional FileDescriptor model_fd = 1

• optional FileDescriptor labelmap_fd = 2

Used in: DetectorOptions.ModelFiles

• optional int32 fd = 1

• optional int64 length = 2

• optional int64 offset = 3

• repeated GuidelineLogEvent event = 1

Next available index: 12

Used in: GuidelineLog

• optional google.protobuf.Timestamp timestamp = 1

• optional uint64 frame_timestamp_us = 2

• oneof guideline_event

  • GuidelineLogEvent.TrackingStateChanged tracking_state_changed = 3

  • GuidelineLogEvent.CameraPoseUpdated camera_pose_updated = 4

  • GuidelineLogEvent.LineDetectorResults line_detector_results = 5

  • GuidelineLogEvent.WorldUpdate world_update = 6

  • GuidelineLogEvent.ControlSignal control_signal = 7

  • GuidelineLogEvent.PointCloud point_cloud = 8

  • GuidelineLogEvent.OccupancyMap occupancy_map = 9

  • GuidelineLogEvent.DepthEstimationResults depth_estimation_results = 10

  • GuidelineLogEvent.CameraImage camera_image = 11

Used in: GuidelineLogEvent

(message has no fields)

Used in: GuidelineLogEvent

• optional Transformation transformation = 1

• optional bytes image_data = 2

Used in: GuidelineLogEvent

• optional float lateral_movement_meters = 1

• optional float rotation_movement_degrees = 2

• optional float turn_angle_degrees = 3

• optional Vector3 turn_point = 4

• optional bool stop = 5

• optional bool obstacle_ahead = 6

Used in: GuidelineLogEvent

• optional DepthMap depth_map = 1

Used in: DepthEstimationResults

• optional uint32 width = 1

• optional uint32 height = 2

• repeated float value = 3

Used in: GuidelineLogEvent

• optional SegmentationMask segmentation_mask = 1

• repeated LineKeypoint keypoints = 2

Used in: WorldUpdate

• optional LineKeypoint keypoint = 1

• optional Vector3 hit_translation = 2

• optional double hit_distance = 3

Used in: LineDetectorResults, LineHit

• optional double x = 1

• optional double y = 2

• optional double score = 3

Used in: GuidelineLogEvent

• repeated Vector2 grid_centroids = 1

• repeated float packed_occupancy = 2

  The occupancy map as packed values [x, y, occupancy].

Used in: GuidelineLogEvent

• repeated WorldPoint world_points = 1

• repeated float packed_world_point = 2

  Packed version of world_points to miminize storage space. Each entry consists of 4 values: [x, y, z, confidence].

Used in: Transformation

• optional double w = 1

• optional double x = 2

• optional double y = 3

• optional double z = 4

Used in: LineDetectorResults

• optional int32 width = 1

• optional int32 height = 2

• optional bytes values = 3

Used in: GuidelineLogEvent

• optional bool tracking = 1

Used in: CameraPoseUpdated

• optional Vector3 translation = 1

• optional Quaternion rotation = 2

Used in: OccupancyMap

• optional double x = 1

• optional double y = 2

Used in: ControlSignal, LineHit, Transformation, WorldPoint

• optional double x = 1

• optional double y = 2

• optional double z = 3

Used in: PointCloud

• optional Vector3 point = 1

• optional double confidence = 2

Used in: GuidelineLogEvent

• repeated LineHit hit = 1

Used in: KeypointExtractorOptions

• optional int32 block_size = 1

• optional int32 block_overlap = 2

Used in: GuidelineEngineConfig

• optional CameraPoseBasedHumanOptions camera_pose_based_human_options = 1

Used in: GuidelineEngineConfig.DetectorOptions

• oneof keypoint_extractor_options

  • HorizontalBlockKeypointExtractorOptions horizontal_block_keypoint_extractor_options = 1

Used in: AudioSystemOptions

• optional LegacySoundPackOptions.LegacySoundPackType type = 1

• optional float max_rotation_degrees = 2

• optional float sensitivity_curvature = 3

• optional float warning_threshold_meters = 4

• optional bool enable_curve_sound = 5

• optional bool use_fast_curve_sound = 6

• optional float turn_sensitivity = 7

Used in: LegacySoundPackOptions

• V0 = 0

• V4_0 = 1

• V4_1 = 2

• V4_2 = 3

Results of line detection.

Used in: ClassicGuidance

• repeated LineDetectionSegment segment = 1

  The detected line segments.

• optional float x_position = 2

  Relative position of the line in the frame [-1, 1]. This will be unset if no line was detected in the frame.

• optional float curve_angle_degrees = 3

  The detected curve angle, if a curve was detected.

Used in: LineDetectionSegment

• optional float x = 1

• optional float y = 2

Used in: LineDetection

• optional LineDetectionPoint bottom = 1

• optional LineDetectionPoint top = 2

Used in: GuidelineAggregatorOptions

• optional int32 time_interval_size = 1

• optional int32 time_interval_overlap = 2

• optional int32 fitted_curve_degree = 3

• optional float max_distance_for_closest_point_meters = 4

• optional float forward_extrapolation_meters = 5

  How many meters to forward and backward extrapolate the fitted spline.

• optional float backward_extrapolation_meters = 6

• optional float num_guideline_points_per_meter = 7

  Number of guideline points to fit for every meter. Total number of points returned will distance covered by guideline, including forward and backward extrapolation, multiplied by this value.

• optional int32 max_history_to_keep = 8

• optional bool use_fitted_curve_for_extrapolation = 9

Used in: GuidelineEngineConfig

• optional FrameBasedOccupancyMapOptions frame_based_occupancy_map_options = 1

Used in: GuidelineEngineConfig

• optional FrameBasedPointCloudOptions frame_based_point_cloud_options = 1

Configuration for simple control system. TODO(b/213364770): Find optimal hyper parameters.

Used in: ControlSystemOptions

• optional int32 num_guideline_points_per_meter = 1

  For computing the raw control signal.

• optional float intermediate_guideline_point_distance_meters = 2

• optional float distance_per_guideline_segment_meters = 3

• optional int32 max_num_guideline_segments_to_use = 4

• optional float turn_angle_threshold_degrees = 5

• optional int32 lateral_stop_min_consecutive_frames = 6

• optional float lateral_movement_abs_min_threshold_meters = 7

• optional float lateral_movement_abs_max_threshold_meters = 8

• optional float rotational_movement_abs_min_threshold_degrees = 9

• optional float rotational_movement_abs_max_threshold_degrees = 10

• optional float rotational_movement_ahead_meters = 16

• optional int32 max_history_to_keep = 11

• optional float min_turn_point_distance_meters = 12

• optional float track_width_meters = 13

• optional uint32 obstacle_smoothing_min_interval_frames = 14

• optional uint32 obstacle_smoothing_window_frames = 15

Configuration of SortedGuidelineBoxPointAggregator for building stateful representation of the guideline. TODO(b/213364770): Find optimal hyper parameters.

Used in: GuidelineAggregatorOptions

• optional float box_size_meters = 1

  GuidelineBoxPoint size.

• optional float confidence_threshold = 2

  confidence and number of points thresholds for selecting points for spline fitting.

• optional float num_points_threshold = 3

• optional float num_meters_per_spline = 4

  How many meters a single spline fit.

• optional float forward_extrapolation_meters = 5

  How many meters to forward and backward extrapolate the fitted spline.

• optional float backward_extrapolation_meters = 6

• optional float num_guideline_points_per_meter = 7

  Number of guideline points to fit for every meter. Total number of points returned will distance covered by guideline, including forward and backward extrapolation, multiplied by this value.

• optional int32 max_history_to_keep = 8

Indicates the reason for stop signal.

Used in: ControlSignalLite

• STOP_REASON_UNSPECIFIED = 0

• STOP_REASON_APP_INITIATED = 1

• STOP_REASON_TRACKING_STATE_CHANGED = 2

• STOP_REASON_NO_KEY_POINT = 3

• STOP_REASON_LATERAL_NAN = 4

• STOP_REASON_NO_IN_RANGE_MOVEMENT = 5

Used in: GuidelineEngineConfig

• optional bool enable_ml_overlay = 1

  Enable ML debug overlay showing segmentation mask and depth image results.