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: PerceptionObstacles

• optional int32 cipv_id = 1

• repeated int32 potential_cipv_id = 2

Used in: DstExistanceFusionConfig

• optional string camera_name = 1

• optional double valid_dist = 2

• optional double track_object_max_match_distance = 1

• repeated CameraValidDist camera_valid_dist = 2

Used in: ImpendingCollisionEdges

• optional int32 id = 1

  edge ID.

• repeated int32 cone_id_list = 2

  cone ID.

• repeated common.Point3D point = 3

• optional double tracking_time = 4

  tracking time since detected in s

• repeated ImpendingCollisionEdge impending_collision_edge = 1

  obstacles

• optional common.Header header = 2

  Header

Used in: ModelConfigProto

• optional string name = 1

• repeated bool values = 2

Used in: ModelConfigProto

• optional string name = 1

• repeated double values = 2

Used in: ModelConfigProto

• optional string name = 1

• repeated float values = 2

Used in: ModelConfigProto

• optional string name = 1

• repeated int32 values = 2

Used in: ModelConfigProto

• optional string name = 1

• repeated bytes values = 2

Used in: ModelConfigProto

• optional string name = 1

• optional bool value = 2

Used in: ModelConfigProto

• optional string name = 1

• optional double value = 2

Used in: ModelConfigProto

• optional string name = 1

• optional float value = 2

Used in: ModelConfigProto

• optional string name = 1

• optional int32 value = 2

Used in: ModelConfigProto

• optional string name = 1

• optional bytes value = 2

Used in: LaneMarkers

• optional hdmap.LaneBoundaryType.Type lane_type = 1

• optional double quality = 2

  range = [0,1]; 1 = the best quality

• optional int32 model_degree = 3

• optional double c0_position = 4

  equation X = c3 * Z^3 + c2 * Z^2 + c1 * Z + c0

• optional double c1_heading_angle = 5

• optional double c2_curvature = 6

• optional double c3_curvature_derivative = 7

• optional double view_range = 8

• optional double longitude_start = 9

• optional double longitude_end = 10

Used in: dreamview.SimulationWorld, PerceptionObstacles, relative_map.MapMsg

• optional LaneMarker left_lane_marker = 1

• optional LaneMarker right_lane_marker = 2

• repeated LaneMarker next_left_lane_marker = 3

• repeated LaneMarker next_right_lane_marker = 4

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

• repeated string model_config_path = 1

Used in: MultiModelConfigProto

• optional string name = 1

• optional string version = 2

• repeated KeyValueInt integer_params = 3

• repeated KeyValueString string_params = 4

• repeated KeyValueDouble double_params = 5

• repeated KeyValueFloat float_params = 6

• repeated KeyValueBool bool_params = 7

• repeated KeyValueArrayInt array_integer_params = 8

• repeated KeyValueArrayString array_string_params = 9

• repeated KeyValueArrayDouble array_double_params = 10

• repeated KeyValueArrayFloat array_float_params = 11

• repeated KeyValueArrayBool array_bool_params = 12

Used in: VehicleStatus

• optional float m00 = 1

• optional float m01 = 2

• optional float m02 = 3

• optional float m03 = 4

• optional float m10 = 5

• optional float m11 = 6

• optional float m12 = 7

• optional float m13 = 8

• optional float m20 = 9

• optional float m21 = 10

• optional float m22 = 11

• optional float m23 = 12

• optional float m30 = 13

• optional float m31 = 14

• optional float m32 = 15

• optional float m33 = 16

• repeated VehicleStatus vehicle_status = 1

  An array of vehicle_information stored for previous timestamps

• optional common.Header header = 2

  Header

• repeated ModelConfigProto model_configs = 1

• repeated SensorMeta sensor_meta = 1

• optional common.Header header = 1

  header

• optional string source_topic = 2

  which topic to get the frame

• optional camera.CameraErrorCode error_code = 3

  error code

• optional camera.CameraCalibrator camera_calibrator = 4

• repeated camera.CameraLaneLine camera_laneline = 5

Used in: PerceptionObstacles, camera.CameraObstacle, prediction.PredictionObstacle

• optional int32 id = 1

  obstacle ID.

• optional common.Point3D position = 2

  obstacle position in the world coordinate system.

• optional double theta = 3

  heading in the world coordinate system.

• optional common.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 common.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 common.Point3D drops = 15

  trajectory of object.

• optional common.Point3D acceleration = 16

  The following fields are new added in Apollo 4.0

  obstacle acceleration

• optional common.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

Used in: PerceptionObstacle

• CONFIDENCE_UNKNOWN = 0

• CONFIDENCE_CNN = 1

• CONFIDENCE_RADAR = 2

Used in: dreamview.Object, 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, prediction.Feature, prediction.ObstacleConf

• 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 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 common.ErrorCode error_code = 3

• optional LaneMarkers lane_marker = 4

• optional CIPVInfo cipv_info = 5

  Closest In Path Vehicle (CIPV)

Used in: PerceptionObstacle

• optional string sensor_id = 1

• optional int32 id = 2

• optional common.Point3D position = 3

• optional double theta = 4

• optional double length = 5

• optional double width = 6

• optional double height = 7

• optional common.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: MultiSensorMeta

• optional string name = 1

• optional SensorMeta.SensorType type = 2

• optional SensorMeta.SensorOrientation orientation = 3

Used in: SensorMeta

• FRONT = 0

• LEFT_FORWARD = 1

• LEFT = 2

• LEFT_BACKWARD = 3

• REAR = 4

• RIGHT_BACKWARD = 5

• RIGHT = 6

• RIGHT_FORWARD = 7

• PANORAMIC = 8

Used in: SensorMeta

• UNKNOWN_SENSOR_TYPE = -1

• VELODYNE_64 = 0

• VELODYNE_32 = 1

• VELODYNE_16 = 2

• LDLIDAR_4 = 3

• LDLIDAR_1 = 4

• SHORT_RANGE_RADAR = 5

• LONG_RANGE_RADAR = 6

• MONOCULAR_CAMERA = 7

• STEREO_CAMERA = 8

• ULTRASONIC = 9

• VELODYNE_128 = 10

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

• optional double remaining_time = 6

  v2x traffic light remaining time.

Used in: TrafficLight, TrafficLightBox, planning_internal.SignalLightDebug.SignalDebug

• 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

• optional string camera_name = 7

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

• optional int32 camera_id = 9

• repeated TrafficLightBox crop_roi = 10

• repeated TrafficLightBox projected_roi = 11

• repeated TrafficLightBox rectified_roi = 12

• repeated TrafficLightBox debug_roi = 13

• 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

Used in: Motion_Service

• optional float roll_rate = 1

• optional float pitch_rate = 2

• optional float yaw_rate = 3

• optional float velocity = 4

• optional float velocity_x = 5

• optional float velocity_y = 6

• optional float velocity_z = 7

• optional double time_ts = 8

  time stamp

• optional double time_d = 9

• optional MotionType motion = 10