package apollo.perception.camera

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Used in: PerceptionLanes, CameraDebug

• optional float pitch_angle = 1

• optional float camera_height = 2

• optional common.Header header = 1

  header

• optional string source_topic = 2

  which topic to get the frame

• optional CameraErrorCode error_code = 3

  error code

• optional CameraCalibrator camera_calibrator = 4

• repeated CameraLaneLine camera_laneline = 5

• repeated CameraObstacle camera_obstacle = 6

  an array of obstacles

Used in: PerceptionLanes, CameraDebug

• ERROR_NONE = 0

• ERROR_UNKNOWN = 1

Used in: PerceptionLanes, CameraDebug

• optional LaneLineType type = 1

• optional LaneLinePositionType pos_type = 2

• optional LaneLineCubicCurve curve_camera_coord = 3

  @brief camera coordinate system

• optional LaneLineCubicCurve curve_image_coord = 4

  @brief image coordinate system

• repeated common.Point3D curve_camera_point_set = 5

  @brief curve camera point set

• repeated common.Point2D curve_image_point_set = 6

  @brief curve image point set

• repeated EndPoints image_end_point_set = 7

  @brief image end point set

• optional int32 track_id = 8

  @brief track id

• optional float confidence = 9

  @brief confidence for lane line

• optional LaneLineUseType use_type = 10

Used in: CameraDebug

• optional PerceptionObstacle obstacle = 1

  PerceptionObstacle

• optional CameraObstacle.CameraType type = 21

  obstacle type

• repeated float type_probs = 22

  obstacle type

• optional common.Point2D upper_left = 23

  upper left corner of 2D bbox

• optional common.Point2D lower_right = 24

  lower right corner of 2D bbox

• repeated common.Point2D key_points = 25

  2D key points

• repeated string debug_message = 26

  debug message

2D information

Used in: CameraObstacle

• 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: CameraLaneLine

• optional common.Point2D start = 1

• optional common.Point2D end = 2

Used in: CameraLaneLine

• optional float longitude_min = 1

• optional float longitude_max = 2

• optional float a = 3

• optional float b = 4

• optional float c = 5

• optional float d = 6

Used in: CameraLaneLine

• BOLLARD_LEFT = -5

• FOURTH_LEFT = -4

• THIRD_LEFT = -3

• ADJACENT_LEFT = -2

  !< lane marking on the left side next to ego lane

• EGO_LEFT = -1

  !< left lane marking of the ego lane

• EGO_RIGHT = 1

  !< right lane marking of the ego lane

• ADJACENT_RIGHT = 2

  !< lane marking on the right side next to ego lane

• THIRD_RIGHT = 3

• FOURTH_RIGHT = 4

• BOLLARD_RIGHT = 5

• OTHER = 6

  !< other types of lane

• UNKNOWN = 7

  !< background

Used in: CameraLaneLine

• WHITE_DASHED = 0

• WHITE_SOLID = 1

• YELLOW_DASHED = 2

• YELLOW_SOLID = 3

Used in: CameraLaneLine

• REAL = 0

• VIRTUAL = 1