package apollo.perception

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Used in: PerceptionObstacle, PerceptionWaste, 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: PerceptionBarrierGate

• optional BarrierGate.Status status = 1

• optional string id = 2

  Barrier gate string-ID in the map data.

• optional string type = 3

  Barrier gate type in the map data.

• optional bool is_useable = 4

  Wheter the barrier recognition is activated.

• optional double open_percent = 5

  Open percentage.

Used in: BarrierGate

• UNKNOWN = 0

• CLOSED = 1

• CLOSING = 2

• OPENED = 3

• OPENING = 4

Used in: PerceptionObstacles

• optional int32 cipv_id = 1

• repeated int32 potential_cipv_id = 2

Used in: PerceptionObstacle, PerceptionWaste

• repeated Trajectory trajectory = 1

  can have multiple trajectories per obstacle

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

• optional common.Header header = 1

• optional bool is_useable = 2

• optional common.Point3D relative_position = 3

• repeated common.Point3D relative_path_position = 4

• optional double relative_heading = 5

• optional common.Header header = 1

• repeated BarrierGate barrier_gates = 2

For perception benchmark

• repeated PerceptionObstacle perception_obstacle = 1

  An array of obstacles

• optional common.Header header = 2

  Header

• optional common.ErrorCode error_code = 3

• optional SensorFrameInfo sensor_frame_info = 4

• optional common.Header header = 1

• optional bool is_useable = 2

• repeated common.Point3D edge_point = 3

• repeated common.Point3D edge_relative_point = 4

• optional double delta_s = 5

• optional double edge_length = 6

• optional bool is_smoother_succ = 7

• optional bool is_cross_localization = 8

• 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: PerceptionBenchmarkFrame, PerceptionObstacles, camera.CameraObstacle, prediction.Feature, 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

• optional DebugMessage msg = 26

  Debug Message

• optional PerceptionObstacle.Source source = 27

• optional V2XInformation v2x_info = 28

• optional PerceptionObstacle.SemanticType semantic_type = 29

Used in: PerceptionObstacle

• CONFIDENCE_UNKNOWN = 0

• CONFIDENCE_CNN = 1

• CONFIDENCE_RADAR = 2

Used in: PerceptionObstacle

• SM_UNKNOWN = 0

• SM_IGNORE = 1

• SM_GROUND = 2

• SM_OBJECT = 3

• SM_CURB = 4

• SM_VEGETATION = 5

• SM_FENCE = 6

• SM_NOISE = 7

• SM_WALL = 8

• SM_MAX_OBJECT_SEMANTIC_LABEL = 9

Used in: dreamview.Object, PerceptionObstacle

• HOST_VEHICLE = 0

• V2X = 1

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

• ST_SMALLMOT = 12

• ST_BIGMOT = 13

• ST_NONMOT = 14

Used in: PerceptionObstacle, SensorMeasurement, prediction.Feature

• 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.

• 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)

• repeated PerceptionWaste perception_waste = 6

  An array of wastes

Used in: PerceptionObstacles, prediction.PredictionObstacles

• optional int32 id = 1

• optional common.Point3D position = 2

• optional double theta = 3

• optional common.Point3D velocity = 4

• optional double length = 5

• optional double width = 6

• optional double height = 7

• repeated common.Point3D polygon_point = 8

• optional double tracking_time = 9

• optional PerceptionWaste.Type type = 10

• optional double timestamp = 11

• optional double confidence = 12

• optional BBox2D bbox2d = 13

• optional DebugMessage msg = 14

Used in: PerceptionWaste

• UNKNOWN = 0

• CAN = 1

• CIGARETTE = 2

• CIGARETTE_CASE = 3

• PEEL = 4

• PACKAGE = 5

• PLASTIC_BAG = 6

• BOTTLES = 7

• SHELL = 8

• LEAF = 9

• PAPER_CUP = 10

• CUBE = 11

• WIRE = 12

Used in: PerceptionBenchmarkFrame

• optional string sensor_id = 1

• optional double timestamp = 2

• repeated double sensor2world_pose = 3

  size should be 16

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: 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, simulation.Scenario.TL.State

• 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

• optional string camera_name = 6

Used in: TrafficLightDetection

• CAMERA_FRONT_LONG = 0

• CAMERA_FRONT_NARROW = 1

• CAMERA_FRONT_SHORT = 2

• CAMERA_FRONT_WIDE = 3

Used in: DebugMessage

• optional double probability = 1

  probability of this trajectory

• repeated common.TrajectoryPoint trajectory_point = 2

Used in: dreamview.Object, PerceptionObstacle

• repeated V2XInformation.V2XType v2x_type = 1

Used in: V2XInformation

• NONE = 0

• ZOMBIES_CAR = 1

• BLIND_ZONE = 2